Control for Localization of Targets using Range-only Sensors

Authors:
Ethan Stump;Vijay Kumar;Ben Grocholsky;Pedro M. Shiroma
Affiliations:
GRASP Laboratory, University of Pennsylvania, 3330 WalnutStreet, Levine Hall L402 Philadelphia, PA 19104-6228, USA;GRASP Laboratory, University of Pennsylvania, 3330 WalnutStreet, Levine Hall L402 Philadelphia, PA 19104-6228, USA;Robotics Institute, Carnegie Mellon University, Pittsburgh,PA 15213-3890, USA;VERLab - DCC, Universidade Federal de Minas Gerais,CEP 31270-010 Belo Horizonte, Minas Gerais, Brazil
Venue:
International Journal of Robotics Research
Year:
2009

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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.