ICRA 2012 Paper Abstract


Paper TuC06.2

Lebastard, Vincent (Ecole des Mines de Nantes), Chevallereau, Christine (CNRS), GIRIN, Alexis (IRCCyN), Boyer, Frédéric (Ecole des mines de Nantes), Gossiaux, Pol Bernard (Ecole des Mines de Nantes)

Localization of Small Objects with Electric Sense Based on Kalman Filter

Scheduled for presentation during the Invited Session "Biologically Inspired Robotics" (TuC06), Tuesday, May 15, 2012, 14:45−15:00, Meeting Room 6 (Oya'te)

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 November 14, 2018

Keywords Biologically-Inspired Robots, Localization, Marine Robotics


Electric fish feel the perturbations of a selfgenerated electric field through their electro-receptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor bio-inspired from this active sense to address the problem of small objects reconstruction and electrolocation. Based on a Kalman filter, any small object in the surrounding of the motion controlled sensor can be encapsulated into an equivalent sphere whose location is well estimated by the filter. Experimental results illustrate the feasibility of the approach.



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