Experimental results of a sensor switching policy for mobile robots

Abstract

This note presents the first experimental results about the application of a sensor switching policy to the estimation of the pose of a mobile robot. We assume that only a fraction of the available sensors can be used, to the sake of saving robot's batteries, and investigate sensors' better switching rule with respect to the reliability of the estimated pose under the usual hypotheses of Gaussian disturbances. The problem of possibly missing measurements, due to sensors malfunctioning or communication bottlenecks, is also addressed.