NDLI: Reactive rearrangement of parts under sensor inaccuracy: particle filter approach

Content Provider	IEEE Xplore Digital Library
Author	Bayram, H. Ertuzun, A. Bozma, I.
Copyright Year	2006
Description	Author affiliation: Intelligent Syst. Lab., Bogazici Univ., Istanbul (Bayram, H.)
Abstract	The paper addresses the warehouseman's problem with geometrical simplifications under the more realistic case of imperfect sensory information. In this scenario, a 2D workspace contains an actuated robot and a set of unactuated parts. The discrepancy between the robot's and/or the parts' real and measured positions may lead to jerky movements or even collisions in the parts' moving problem we are concerned with. Thus, we need to approximate the state information - taking the highly nonlinear nature of the resulting system into account. This is accomplished using particle filters - which implement recursive Bayesian filter in nonlinear and/or nongaussian environments. For the model of parts which turns out to be linear, the approach reduces to Kalman filtering. First the robot's dynamic model and the measurement model are modified to incorporate the inaccuracies in the sensory data; and then the particle filter is utilized to get improved positional estimate. Enhancements in the robot's movements and reduction in the number of collisions have been verified through extensive computer simulations
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2029
Ending Page	2034
File Size	244193
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642003
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Particle filters Robot sensing systems Position measurement Bayesian methods Kalman filters Nonlinear filters Filtering Nonlinear dynamical systems Particle measurements Computer simulation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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