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Episodic Non-Markov Localization: Reasoning About Short-Term And Long-Term Features, Joydeep Biswas, Manuela M. Veloso
Episodic Non-Markov Localization: Reasoning About Short-Term And Long-Term Features, Joydeep Biswas, Manuela M. Veloso
Computer Science Department Faculty Publication Series
Markov localization and its variants are widely used for localization of mobile robots. These methods assume Markov independence of observations, implying that observations made by a robot correspond to a static map. However, in real human environments, observations include occlusions due to unmapped objects like chairs and tables, and dynamic objects like humans. We introduce an episodic non-Markov localization algorithm that maintains estimates of the belief over the trajectory of the robot while explicitly reasoning about observations and their correlations arising from unmapped static objects, moving objects, as well as objects from the static map. Observations are classified as arising …