Bayesian Landmark Learning for Mobile Robot Localization
Machine Learning
Robot Motion Planning and Control
Robot Motion Planning and Control
Robot Motion Planning
Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints
Intelligent Autonomous Systems, An International Conference
Planning Algorithms
A visual landmark framework for mobile robot navigation
Image and Vision Computing
IEEE Transactions on Robotics
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This work studies the interaction of the nonholonomic and visibility constraints of a robot to maintain visibility of a landmark. The robot is a differential drive system (nonholonomic robot) and has a sensor with limited capabilities (limited field of view). In this research, we want to determine whether or not a robot can always maintain visibility of a landmark during the execution of a path between any two locations. We present two kinematic models. First, a robot with 3 controls, where the controls correspond to the two wheels velocities plus one independent controlled sensor. Second, a model with only 2 controls, which controls both the wheels and the sensor rotation. We show that our system (with 3 or 2 controls) is small-time local controllable.