Technical University of Munich

@inproceedings{schmitt_cooperative_2001-2,
 author = {T Schmitt and R Hanek and S Buck and M Beetz},
 title = {Cooperative Probabilistic State Estimation fo Vision-based Autonomous
	Soccer Robots},
 booktitle = {{RoboCup} International Symposium 2001},
 year = {2001},
 address = {Seattle, {USA}},
 abstract = {With the services that autonomous robots are to provide becoming more
	demanding, the states that the robots have to estimate become more
	complex. In this paper, we develop and analyze a probabilistic, vision-based
	state estimation method for individual, autono-mous robots. This
	method enables a team of mobile robots to estimate their joint positions
	in a known environment and track the positions of autonomously moving
	objects. The state estimators of different robots cooperate to increase
	the accuracy and reliability of the estimation process. This cooperation
	between the robots enables them to track temporarily occluded objects
	and to faster recover their position after they have lost track of
	it. The method is empirically validated based on experiments with
	a team of physical robots.},
}