Zobrazeno 1 - 10
of 20
pro vyhledávání: '"Hans Jacob S. Feder"'
Publikováno v:
Robotica. 19:467-480
This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mappin
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4dd526f1c3d060b34b3fa4917ffd3116
https://doi.org/10.1017/s0263574701003411
https://doi.org/10.1017/s0263574701003411
Autor:
Hans Jacob S. Feder, John J. Leonard
Publikováno v:
IEEE Journal of Oceanic Engineering. 26:561-571
This paper describes decoupled stochastic mapping (DSM), a new computationally efficient approach to large-scale concurrent mapping and localization (CML). DSM reduces the computational burden of conventional stochastic mapping by dividing the enviro
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::89e46d58ae3cfdfbfdf589b5ffc5280d
https://doi.org/10.1109/48.972094
https://doi.org/10.1109/48.972094
Publikováno v:
The International Journal of Robotics Research. 18:650-668
The task of building a map of an unknown environment and concurrently using that map to navigate is a central problem in mobile robotics research. This paper addresses the problem of how to perform concurrent mapping and localization (CML) adaptively
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f61a1510c7ca4ed24a303a06eb413a05
https://doi.org/10.1177/02783649922066484
https://doi.org/10.1177/02783649922066484
Autor:
Hans Jacob S. Feder, John J. Leonard
Publikováno v:
Experimental Robotics VI ISBN: 9781852332105
ISER
ISER
This paper describes the experimental verification a method for performing concurrent mapping and localization (CML) adaptively using sonar. Predicted sensor readings and expected dead-reckoning errors are used to evaluate different potential actions
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::13068016e07496f7c16bff024659b9a1
https://doi.org/10.1007/bfb0119408
https://doi.org/10.1007/bfb0119408
Publikováno v:
Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).
The goal of concurrent mapping and localization (CML) is for a mobile robot to build a map of an unknown environment while simultaneously using that map to navigate. CML can be considered as a problem of multiple target tracking (MTT) in the presence
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a8211eb3c7a98fbec10651ca7909d16d
https://doi.org/10.1109/cdc.1998.760777
https://doi.org/10.1109/cdc.1998.760777
Publikováno v:
Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290).
Extended missions in unknown regions present a significant navigational challenge for autonomous underwater vehicles (AUV). This paper investigates the long-term performance of a concurrent mapping and localization (CML) algorithm for the scenario of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2930d786da0eb63c2083fea20c2efe64
https://doi.org/10.1109/auv.1998.744447
https://doi.org/10.1109/auv.1998.744447
Publikováno v:
IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259).
Demonstrates experiments for performing adaptive terrain aided navigation in the context of autonomous underwater vehicles (AUVs) equipped with sonar. The experiments were conducted using a 675 kHz sector scan sonar mounted on a planar robotic positi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::24c2b99a821c551b5c35354fc29f7078
https://doi.org/10.1109/oceans.1998.725763
https://doi.org/10.1109/oceans.1998.725763
Publikováno v:
Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290).
The role of navigation is changing. The forces of increased autonomy, less prior knowledge, and larger missions are extending the navigation problem from the requirement of absolute localization to the larger question of context determination. Curren
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::547cc7179398a33997c3f0f80a7b6856
https://doi.org/10.1109/auv.1998.744448
https://doi.org/10.1109/auv.1998.744448
Publikováno v:
IROS
In order to create a truly autonomous vehicle, the task of concurrent mapping and localization (CML) in an a priori unknown environment is an important problem. Traditionally, the task of CML has been separated from the vehicle's motion and sensing s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d88e3ea04b32c7e63804d7cd0df81c86
https://doi.org/10.1109/iros.1998.727313
https://doi.org/10.1109/iros.1998.727313
Publikováno v:
ICRA
Motivated by fluid analogies, artificial harmonic potentials can eliminate local minima problems in robot path planning. In this paper, simple analytical solutions to planar harmonic potentials are derived using tools from fluid mechanics, and are ap
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::913015337665f88cd4da84e22773ffe0
https://doi.org/10.1109/robot.1997.620144
https://doi.org/10.1109/robot.1997.620144