{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T10:18:19Z","timestamp":1649153899199},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents an automatic training method based on the Baum\u2013Welch algorithm (also known as EM algorithm) and a robust low-level controller. The method has been applied to the indoor autonomous navigation of a surveillance robot that utilizes a WiFi+Ultrasound Partially Observable Markov Decision Process (POMDP). This method uses a robust local navigation system to automatically provide some WiFi+Ultrasound maps. These maps could be employed within probabilistic global robot localization systems. These systems use <jats:italic>a priori<\/jats:italic> probabilistic map in order to estimate the global robot position. The method has been tested in a real environment using two commercial Pioneer 2AT robotic platforms in the premises of the Department of Electronics at the University of Alcal\u00e1. Some experimental results and conclusions are presented.<\/jats:p>","DOI":"10.1017\/s0263574709005463","type":"journal-article","created":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T10:45:27Z","timestamp":1236595527000},"page":"1049-1061","source":"Crossref","is-referenced-by-count":9,"title":["Automatic training method applied to a WiFi+ultrasound POMDP navigation system"],"prefix":"10.1017","volume":"27","author":[{"given":"M.","family":"Oca\u00f1a","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"L. M.","family":"Bergasa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. A.","family":"Sotelo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.","family":"Flores","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D. 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Otsason V. , Accurate Indoor Localization Using Wide GSM Fingerprinting Master's Thesis (University of Tartu, 2005).","DOI":"10.1007\/11551201_9"},{"key":"S0263574709005463_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.07.004"},{"key":"S0263574709005463_ref1","first-page":"77","article-title":"navigation system for assistant robots using visually augmented POMDPs","volume":"19","author":"L\u00f3pez","year":"2005","journal-title":"Autonom. Rob."},{"key":"S0263574709005463_ref10","first-page":"775","volume-title":"Proceedings of the IEEE Infocom 2000","author":"Bahl","year":"2000"},{"key":"S0263574709005463_ref11","first-page":"227","volume-title":"Proceedings of the International Conference on Mobile Computing and Networking","author":"Ladd","year":"2002"},{"key":"S0263574709005463_ref18","unstructured":"18. L\u00f3pez M. E. , Global Navigation System Based on Partially Markov Decision Process. Application in an Assistant Robot Ph.D. Thesis (Department of Electronics, Polytechnic School, University of Alcal\u00e1, Spain, 2004)."},{"key":"S0263574709005463_ref4","doi-asserted-by":"publisher","DOI":"10.1145\/128756.128759"},{"key":"S0263574709005463_ref16","unstructured":"16. 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