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Published in:
2008 | OriginalPaper | Chapter
Control for Localization of Targets Using Range-Only Sensors
Authors : Ben Grocholsky, Ethan Stump, Pedro M. Shiroma, Vijay Kumar
Published in: Experimental Robotics
Publisher: Springer Berlin Heidelberg
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We present an application of a novel framework and algorithms for: 1) conservatively and recursively incorporating information obtained through sensors that yield observations that are nonlinear functions of the state, and 2) finding control inputs that continuously improve the quality of the resulting estimates. We present an experimental study of the application of our framework to mobile robots utilizing range-only sensors, and demonstrate its effectiveness in dealing with problems of target localization with one or more robots where traditional approaches involving linearization fail to consistently capture uncertainty.