Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Learning probabilistic motion models for mobile robots
ICML '04 Proceedings of the twenty-first international conference on Machine learning
Distributed localization of networked cameras
Proceedings of the 5th international conference on Information processing in sensor networks
Navigating with ranging radios: Five data sets with ground truth
Journal of Field Robotics
Cooperative AUV Navigation using a Single Maneuvering Surface Craft
International Journal of Robotics Research
Motion-aided network SLAM with range
International Journal of Robotics Research
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This article compares several parameterizations and motion models for improving the estimation of the non-linear uncertainty distribution produced by robot motion. In previous work, we have shown that the use of a modified polar parameterization provides a way to represent nonlinear measurements distributions in the Cartesian space as linear distributions in polar space. Following the same reasoning, we present a motion model extension that utilizes the same polar parameterization to achieve improved modeling of mobile robot motion in between measurements, gaining robustness with no additional overhead. We present both simulated and experimental results to validate the effectiveness of our approach.