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Paper TuD210.2

Vander Hook, Joshua (University of Minnesota), Tokekar, Pratap (University of Minnesota), Isler, Volkan (University of Minnesota)

Cautious Greedy Strategy for Bearing-Based Active Localization: Experiments and Theoretical Analysis

Scheduled for presentation during the Interactive Session "Interactive Session TuD-2" (TuD210), Tuesday, May 15, 2012, 17:00−17:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Field Robots, Reactive and Sensor-Based Planning, Robotics in Agriculture and Forestry

Abstract

We study the problem of minimizing the time to accurately localize a target using radio-based telemetry. The directional nature of the antenna allows us to obtain bearing-to-target sensor measurements. There are two critical attributes that seperate our setup from the majority of bearing-only tracking literature: ambiguity and long measurement time. We provide a sensing strategy which midigates the effect of ambiguity, and prove that the time required to localize a target is less than a constant times any bearing-based localization strategy

 

 

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