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Dealing with Uncertainty in Structured Environments: A Robot Soccer Case Study

Tekin Meriçli, Çetin Meriçli, Ergin Özkucur, Can Kavaklıoğlu, Barış Gökçe, and H. Levent Akın. Dealing with Uncertainty in Structured Environments: A Robot Soccer Case Study. In MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2009), Istanbul, Turkey, 9 – 11 September 2009, O. Tosun, H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, 2009, pp. 98–105, 2009.

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Abstract

Uncertainty is one of the key issues to consider in the field of robotics. Noisy sensor readings and uncontrollable factors in the operation environment as well as the internal mechanisms of the robots may have an accumulating negative effect throughout the decision making process. Starting from the perception of the environment, which is the very first stage of the sense-plan-act cycle, uncertainty should be handled carefully in the localization, world modeling, and action realization stages. In this paper, various techniques we use for dealing with uncertainty in the robot soccer domain are presented and performance comparisons with alternative methods are given.

BibTeX

@InProceedings{Mericli2009Uncertainty,
  author    = {Tekin Meriçli and Çetin Meriçli and Ergin Özkucur and Can Kavaklıoğlu and Barış Gökçe and H. Levent Akın},
  title     = {Dealing with Uncertainty in Structured Environments: A Robot Soccer Case Study},
  booktitle = {MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2009), Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, 2009},
  pages     = {98-105},
  year      = {2009},
  abstract  = {Uncertainty is one of the key issues to consider in the field of robotics. Noisy sensor readings and uncontrollable factors in the operation environment as well as the internal mechanisms of the robots may have an accumulating negative effect throughout the decision making process. Starting from the perception of the environment, which is the very first stage of the sense-plan-act cycle, uncertainty should be handled carefully in the localization, world modeling, and action realization stages. In this paper, various techniques we use for dealing with uncertainty in the robot soccer domain are presented and performance comparisons with alternative methods are given.},
  bib2html_pubtype = {Refereed Conference},
  bib2html_rescat = {Probabilistic Robotics},
  bib2html_dl_pdf = {../files/tmericliCLAWAR2009Uncertainty.pdf},
}

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