Localization of networked robot systems subject to random delay and packet loss

Autor:	Phung, Manh Duong, Van Nguyen, Thi Thanh, Tran, Thuan Hoang, Tran, Quang Vinh
Rok vydání:	2016
Předmět:	Computer Science - Robotics Computer Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/AIM.2013.6584297
Popis:	This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot. Comment: In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1612.01034 Zobrazit plný text záznamu View this record from Arxiv