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issn 1650-8580 isbn 978-91-7668-754-3Kevin LeBlanc has been a graduate student at the Centre for Applied Autonomous Sensor Systems (AASS), at Örebro University in Sweden. His research interests include ancho-ring, cooperative perception, and cooperative robotics. In order to perform most tasks, robots must perceive or interact with physical objects in their environment. Infor-mation about objects is typically produced, represented and used in different ways in various robotic sub-systems. In multi-robot systems, object representations are also distributed across robots. Anchoring is the process of creating and maintaining associations between descriptions and perceptual information corresponding to the same physical objects. The process is called cooperative anchoring when these descriptions and perceptual information are distributed across multiple agents. This thesis proposes an anchoring framework which addresses a number of limitations of existing approaches. In particular, both single-robot and cooperative anchoring are addressed in a transparent manner, and information heterogeneity and uncertainty are more thoroughly treated.
Örebro Studies in Technology 39
örebro 2010 Doctoral Dissertation
