TY - GEN
T1 - Probabilistic constraints for robot localization
AU - Correia, Marco
AU - Meshcheryakova, Olga
AU - Sousa, Pedro Alexandre da Costa
AU - Cruz, Jorge
N1 - sem pdf conforme despacho
PY - 2015
Y1 - 2015
N2 - In robot localization problems, uncertainty arises from many factors and must be considered together with the model constraints. Probabilistic robotics is the classical approach for dealing with hard robotic problems that relies on probability theory. This work describes the application of probabilistic constraint techniques in the context of probabilistic robotics to solve robot localization problems. Instead of providing the most probable position of the robot, the approach characterizes all positions consistent with the model and their probabilities (in accordance with the underlying uncertainty). It relies on constraint programming to get a tight covering of the consistent regions combined with Monte Carlo integration techniques that benefit from such reduction of the sampling space.
AB - In robot localization problems, uncertainty arises from many factors and must be considered together with the model constraints. Probabilistic robotics is the classical approach for dealing with hard robotic problems that relies on probability theory. This work describes the application of probabilistic constraint techniques in the context of probabilistic robotics to solve robot localization problems. Instead of providing the most probable position of the robot, the approach characterizes all positions consistent with the model and their probabilities (in accordance with the underlying uncertainty). It relies on constraint programming to get a tight covering of the consistent regions combined with Monte Carlo integration techniques that benefit from such reduction of the sampling space.
KW - Constraint programming
KW - Probabilistic robotic
KW - Robot localization
UR - http://www.scopus.com/inward/record.url?scp=84945940756&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-23485-4_47
DO - 10.1007/978-3-319-23485-4_47
M3 - Conference contribution
AN - SCOPUS:84945940756
VL - 9273
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 480
EP - 486
BT - Progress in Artificial Intelligence - 17th Portuguese Conference on Artificial Intelligence, EPIA 2015, Proceedings
PB - Springer Verlag
T2 - 17th Portuguese Conference on Artificial Intelligence, EPIA 2015
Y2 - 8 September 2015 through 11 September 2015
ER -