Une architecture réactive pour la localisation en robotique mobile
Identifieur interne : 007C05 ( Main/Exploration ); précédent : 007C04; suivant : 007C06Une architecture réactive pour la localisation en robotique mobile
Auteurs : Franck Gechter [France] ; Vincent Chevrier [France] ; François Charpillet [France]Source :
Descripteurs français
- mix :
Abstract
La localisation d'objets est une tâche assez délicate et essentielle dès lors que l'on veut utiliser des robots mobiles. Elle peut être définie comme étant l'action de trouver la position d'un objet, mobile ou fixe, par rapport à un référentiel connu. En alternative aux méthodes classiquement utilisées qui sont généralement issues du traitement du signal, nous proposons une architecture réactive s'appuyant sur des phénomènes physiques d'interaction. Notre objectif est de construire un dispositif de localisation et de suivi d'éléments mobiles, en nombre quelconque, dans un environnement structuré, partiellement connu et de taille non limitée, à partir de d'un nombre variable de capteurs mobiles ou fixes disposés dans l'environnement. || Localization is a tough, wide spread task in mobile robotics. It can be defined as the action to determine the position of an object considering a reference coordinate system. By contrast with the classical algorithms, which usually stem from the signal o
Url:
Affiliations:
- France
- Grand Est, Lorraine (région)
- Nancy
- Institut national polytechnique de Lorraine, Université Nancy 2, Université de Lorraine
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 006829
- to stream Hal, to step Curation: 006829
- to stream Hal, to step Checkpoint: 005188
- to stream Main, to step Merge: 008027
- to stream Main, to step Curation: 007C05
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<profileDesc><textClass><keywords scheme="mix" xml:lang="fr"><term>localisation</term>
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<term>mobile robot</term>
<term>reactive multi-agent systems</term>
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<front><div type="abstract" xml:lang="fr">La localisation d'objets est une tâche assez délicate et essentielle dès lors que l'on veut utiliser des robots mobiles. Elle peut être définie comme étant l'action de trouver la position d'un objet, mobile ou fixe, par rapport à un référentiel connu. En alternative aux méthodes classiquement utilisées qui sont généralement issues du traitement du signal, nous proposons une architecture réactive s'appuyant sur des phénomènes physiques d'interaction. Notre objectif est de construire un dispositif de localisation et de suivi d'éléments mobiles, en nombre quelconque, dans un environnement structuré, partiellement connu et de taille non limitée, à partir de d'un nombre variable de capteurs mobiles ou fixes disposés dans l'environnement. || Localization is a tough, wide spread task in mobile robotics. It can be defined as the action to determine the position of an object considering a reference coordinate system. By contrast with the classical algorithms, which usually stem from the signal o</div>
</front>
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<tree><country name="France"><region name="Grand Est"><name sortKey="Gechter, Franck" sort="Gechter, Franck" uniqKey="Gechter F" first="Franck" last="Gechter">Franck Gechter</name>
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