Conference proceedings article
Distributed Sensing in a Robotic Soccer Team
Publication Details
Authors: | Niemczyk, S.; Kirchner, D.; Opfer, S.; Witsch, A.; Geihs, K.; Niemczyk, S. |
Editor: | Dantu, Karthik; Mottola, Luca; Zhang, Pei |
Publisher: | IEEE |
Place: | Piscataway, NJ |
Publication year: | 2014 |
Pages range : | 1-4 |
Book title: | CPSWeek 2014 - International Workshop on Robotic Sensor Networks |
Abstract
In robot teams a coherent world model is essentialfor cooperative behavior. The world model is a collection ofinformation about the robots environment. In order to establish acoherent world model sensor fusion is required. However, sensornoise injects uncertainty on the observations and can lead toconflicting behavior. In this paper, we present a world model for multi-robot systems. Our approach distinguishes between alocal and a shared world model. The latter achieves consensusby redundant computations of shared sensor information. Weevaluated our approach in an appropriate environment, i.e., theRoboCup Middle-Size League.
In robot teams a coherent world model is essentialfor cooperative behavior. The world model is a collection ofinformation about the robots environment. In order to establish acoherent world model sensor fusion is required. However, sensornoise injects uncertainty on the observations and can lead toconflicting behavior. In this paper, we present a world model for multi-robot systems. Our approach distinguishes between alocal and a shared world model. The latter achieves consensusby redundant computations of shared sensor information. Weevaluated our approach in an appropriate environment, i.e., theRoboCup Middle-Size League.
Keywords
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