By Topic

Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Dames, P. ; Univ. of Pennsylvania, Philadelphia, PA, USA ; Thakur, D. ; Schwager, M. ; Kumar, V.

The task addressed in this article is the localization of an unknown number of targets using a mobile robot equipped with a visual sensor. The estimation of the number of targets and their locations is done using a recursive Bayesian filter over random finite sets (RFSs), and the position of the robot is assumed to be known. We present a computationally tractable control law whereby the robot follows the gradient of mutual information between target locations and detections. The method is verified through real-world experimental trials, reliably detecting multiple targets and ignoring clutter obstacles.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:21 ,  Issue: 2 )