Proceedings:
Book One
Volume
Issue:
Proceedings of the AAAI Conference on Artificial Intelligence, 17
Track:
Robotics
Downloads:
Abstract:
Recently, Monte Carlo localization (MCL) has been applied successfully to state estimation problems mobile robotics. This paper points out a limitation of MCL that is counter-intuitive, namely that better sensors can yield worse results. An analysis of this problem leads to the formulation of the ``dual'' MCL algorithm, which works well in cases were MCL fails. Combining both, MCL and its dual, leads to an extremely robust filter that consistently outperforms MCL and dual MCL.
AAAI
Proceedings of the AAAI Conference on Artificial Intelligence, 17