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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wanasinghe, T.R. Mann, G.K.I. Gosine, R.G. |
| Copyright Year | 2014 |
| Description | Author affiliation: Intell. Syst. Lab., Memorial Univ. of Newfoundland, St. John's, NL, Canada (Wanasinghe, T.R.; Mann, G.K.I.; Gosine, R.G.) |
| Abstract | This study presents a relative localization (RL) approach for an multi-robotics system (MRS), in which a robot detects and tracks one or more robots in its body-fixed coordinate system. A square-root cubature Kalman filter (SCKF) is employed to track the teammates' relative pose based on the high-frequency egocentric sensory data and the low-frequency inter-robot relative measurements (IRRM). This IRRM data consists of the relative range and the relative bearing between the tracking robot and its teammates. A series of Monte-Carlo simulations for a heterogeneous multi-robotic system is presented to evaluate the proposed SCKF-based RL scheme for different measurement noise configurations and different measurement update rates. To assess how the proposed SCKF-based RL scheme improves relative pose estimation, a comparison with the EKF and the general cubature Kalman filter-based RL schemes through numerical simulations are presented. The results suggest that the proposed SCKF-based RL scheme is a promising solution for relative pose estimation when an exteroceptive sensory system has high measurement uncertainty and/or low measurement update rate. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 542143 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479930999 |
| ISSN | 08407789 |
| e-ISBN | 9781479931019 |
| DOI | 10.1109/CCECE.2014.6901013 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-05-04 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot sensing systems Robot kinematics Estimation Frequency measurement Noise measurement Accuracy |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering Hardware and Architecture |
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