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L1-L2 norms comparison in global localization of mobile robots

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBlanco Rojas, María Dolores
dc.contributor.authorMuñoz Marín, María Luisa
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.date.accessioned2014-06-05T09:00:38Z
dc.date.available2014-06-05T09:00:38Z
dc.date.issued2011-09
dc.description.abstractThe global localization methods deal with the estimation of the pose of a mobile robot assuming no prior state information about the pose and a complete a priori knowledge of the environment where the mobile robot is going to be localized. Most existing algorithms are based on the minimization of an L2-norm loss function. In spite of the extended use of the L2-norm, the use of the L1-norm offers some alternative advantages. The present work compares the L1-norm and the L2-norm with the same basic optimization mechanism to determine the advantages of each norm when applied to the global localization problem. The algorithm has been tested subject to different noise levels to demonstrate the accuracy, effectiveness, robustness, and computational efficiency of both L1-norm and L2-norm approaches.en
dc.description.sponsorshipThis work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid.en
dc.description.statusPublicadoes
dc.format.extent14 p.es
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationRobotics and Autonomous Systems (2011), 59(9), 597–610en
dc.identifier.doihttps://doi.org/10.1016/j.robot.2011.04.006
dc.identifier.issn0921-8890
dc.identifier.publicationfirstpage597es
dc.identifier.publicationissue9es
dc.identifier.publicationlastpage610es
dc.identifier.publicationtitleRobotics and autonomous systemses
dc.identifier.publicationvolume59es
dc.identifier.urihttp://hdl.handle.net/10016/18949
dc.identifier.uxxiAR/0000009315
dc.language.isoengen
dc.publisherElsevieren
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://dx.doi.org/10.1016/j.robot.2011.04.006es
dc.rights© 2011 Elsevier B.V.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherL1-normen
dc.subject.otherL2-normen
dc.subject.otherDifferential evolutionen
dc.subject.otherNonlinear filteren
dc.subject.otherGlobal localizationen
dc.subject.otherMobile robotsen
dc.titleL1-L2 norms comparison in global localization of mobile robotsen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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