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S-Loc and my environment: a new localization system for autonomous robots

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dc.contributor Graduate Program in Computer Engineering.
dc.contributor.advisor Akın, H. Levent.
dc.contributor.author Çelik, Buluç.
dc.date.accessioned 2023-03-16T10:03:42Z
dc.date.available 2023-03-16T10:03:42Z
dc.date.issued 2005.
dc.identifier.other CMPE 2005 C45
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/12367
dc.description.abstract The localization problem is the detection of the pose of a robot relative to theenvironment using the information about the environment sensed by the robot whenthe starting position is unknown. In short, it is answering the question "Where am I?". Localization is an active field of study where many approaches are introduced intothe literature.Robot soccer is a good platform to develop and test localization techniques sincethe robots have limited and noisy sensorial information as in the real life and theenvironment is also highly dynamic.In this work, a new module that will stand between the perception module andthe other modules that uses its output and a new localization technique are introduced,and they are together proposed as a new localization system.The proposed new module is My Environment, which stores the perceptional dataand provides a filtered and more robust data, and the new localization technique isS-Loc, which is a sample based localization technique where only one sample is usedfor each perception data.This system is implemented in Cerberus̕05, which won the Technical Challengesin the RoboCup 2005 - Sony Four-Legged League. This success, together with the experimental study, has shown that the proposed solution has a high performance forthe application domain.
dc.format.extent 30cm.
dc.publisher Thesis (M.S.)-Bogazici University. Institute for Graduate Studies in Science and Engineering, 2005.
dc.subject.lcsh Autonomous robots.
dc.subject.lcsh Robots -- Control systems.
dc.title S-Loc and my environment: a new localization system for autonomous robots
dc.format.pages 54 leaves;


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