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Further results with localization and mapping using range from radio

Djugash, Joseph , Singh, Sanjiv , & Corke, Peter (2006) Further results with localization and mapping using range from radio. In Corke, Peter & Sukkarieh, Salah (Eds.) Field and Service Robotics Results of the 5th International Conference, Springer Berlin / Heidelberg, Port Douglas, Australia, pp. 231-242.

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    Abstract

    In this paper, we present recent results with using range from radio for mobile robot localization. In previous work we have shown how range readings from radio tags placed in the environment can be used to localize a robot. We have extended previous work to consider robustness. Specifically, we are interested in the case where range readings are very noisy and available intermittently. Also, we consider the case where the location of the radio tags is not known at all ahead of time and must be solved for simultaneously along with the position of the moving robot. We present results from a mobile robot that is equipped with GPS for ground truth, operating over several km.

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    1 citations in Scopus
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    ID Code: 33805
    Item Type: Conference Paper
    Keywords: SLAM, range-based localization , kalman filter, particle filter, radio
    DOI: 10.1007/978-3-540-33453-8_20
    ISBN: 9783540334521
    ISSN: 1610-7438 (Print) 1610-742X (Online)
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2006 Springer
    Deposited On: 04 Nov 2010 11:26
    Last Modified: 11 Mar 2012 14:05

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