ICRA 2012 Paper Abstract


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 June 22, 2018

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


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



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-06-22  21:15:58 PST  Terms of use