Stochastic Gradient Descent Localisation in Quadruped Robots

  • Authors:

  • Son Bao Pham;Bernhard Hengst;Darren Ibbotson;Claude Sammut

  • Affiliations:

  • -;-;-;-

  • Venue:
  • RoboCup 2001: Robot Soccer World Cup V
  • Year:
  • 2002

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Abstract

Competing at the RoboCup 2000 Sony legged robot league, the UNSW team convincingly won all their matches. One of the advantages of the team was a new localisation algorithm that is very fast and can tolerate noisy input from the environment as well as unexpected collisions with other objects. This paper describes the algorithm in detail.