In this paper, we address the mobile robot localisation problem by combining relative measurements with intermittent measurements collected from range sensors (e.g., Ultra-Wide Band transmitters) with measurements on the relative motion of the robot. We present some basic results on the possibility of reconstructing the state using a very small number of measurements from two different anchors by setting up a system of linear equations. Next, we study how the observability of a trajectory can be quantified by the condition number of the system matrix, and hence related to the manoeuvres executed by the robot and to sampling time used to collect the measurements. As discussed in this paper, this result can be used as a basis to define control strategies aimed to maximise observability.

Robot Localisation and Uncertainty Control with Intermittent Range-only Measurements / Shamsfakhr, F.; Palopoli, L.; Fontanelli, D.. - (2022), pp. 51-56. (Intervento presentato al convegno 25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 tenutosi a Online nel 28th-30th September 2022) [10.1109/ismcr56534.2022.9950572].

Robot Localisation and Uncertainty Control with Intermittent Range-only Measurements

Shamsfakhr, F.
Primo
;
Palopoli, L.
Secondo
;
Fontanelli, D.
Ultimo
2022-01-01

Abstract

In this paper, we address the mobile robot localisation problem by combining relative measurements with intermittent measurements collected from range sensors (e.g., Ultra-Wide Band transmitters) with measurements on the relative motion of the robot. We present some basic results on the possibility of reconstructing the state using a very small number of measurements from two different anchors by setting up a system of linear equations. Next, we study how the observability of a trajectory can be quantified by the condition number of the system matrix, and hence related to the manoeuvres executed by the robot and to sampling time used to collect the measurements. As discussed in this paper, this result can be used as a basis to define control strategies aimed to maximise observability.
2022
Proceedings of ISMCR 2022: The International Symposium on Measurements and Control in Robotics
Piscataway, NJ, USA
IEEE
9781665454964
Shamsfakhr, F.; Palopoli, L.; Fontanelli, D.
Robot Localisation and Uncertainty Control with Intermittent Range-only Measurements / Shamsfakhr, F.; Palopoli, L.; Fontanelli, D.. - (2022), pp. 51-56. (Intervento presentato al convegno 25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 tenutosi a Online nel 28th-30th September 2022) [10.1109/ismcr56534.2022.9950572].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/403570
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