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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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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ID Code: 33805
Item Type: Conference Paper
Refereed: Yes
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 01:26
Last Modified: 11 Mar 2012 04:05

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