| Autor(es): |
Almeida, Aislan C.
;
Costa, Anna H. R.
;
Bianchi, Reinaldo A. C.
;
Todt, E
;
Tonidandel, F
Número total de Autores: 5
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2017 LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS) AND 2017 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR); v. N/A, p. 6-pg., 2017-01-01. |
| Resumo | |
In order to solve the self-localization problem, the Monte-Carlo Localization is proposed as a technique which is able to solve any localization problem. However, the implemented algorithm needs to be adapted to the robot and domain. Thus, this work presents a novel implementation for humanoid robots whose main sensory input is a camera, to be used in the domain of RoboCup Humanoid Soccer League. The paper proposes motion and observation models designed for the domain, and a method to determine the quantity of particles needed to represent the probability distribution. Finally, the proposals are validated by simulated experiments. (AU) | |
| Processo FAPESP: | 16/21047-3 - ALIS: Aprendizado Autônomo em Sistemas Inteligentes |
| Beneficiário: | Anna Helena Reali Costa |
| Modalidade de apoio: | Auxílio à Pesquisa - Regular |