Name
Abstract | ||
|---|---|---|
We present an application of a novel framework and algorithms for: (1) conservatively and recursively incorporating information obtained through sensors that yield observations that are non-linear functions of the state; and (2) finding control inputs that continuously improve the quality of the resulting estimates. We present an experimental study of the application of our framework to mobile robots utilizing range-only sensors, and demonstrate its effectiveness in dealing with problems of target localization with one or more robots where traditional approaches involving linearization fail to consistently capture uncertainty. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1177/0278364908098559 | I. J. Robotic Res. |
Keywords | Field | DocType |
nonlinear estimation,range-only localization,multi-robot estimation,set-theoretic techniques,over parameterization,control for localization | Control theory,Control engineering,Moment matrix,Robot,Recursion,Mathematics,Mobile robot,Linearization | Journal |
Volume | Issue | ISSN |
28 | 6 | 0278-3649 |
Citations | PageRank | References |
20 | 2.40 | 11 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ethan Stump | 1 | 143 | 15.26 |
| Vijay Kumar | 2 | 7086 | 693.29 |
| Ben Grocholsky | 3 | 328 | 32.82 |
| Pedro M. Shiroma | 4 | 42 | 3.20 |