Robot localisation and uncertainty control with intermittent range-only measurements

F. Shamsfakhr; L. Palopoli; D. Fontanelli

doi:10.1109/ISMCR56534.2022.9950572

Robot localisation and uncertainty control with intermittent range-only measurements

F. Shamsfakhr, L. Palopoli, D. Fontanelli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English
Title of host publication	2022 International Symposium on Measurement and Control in Robotics (ISMCR)
Editors	Zafar Taqvi, Simone Keller Fuchter, Geraldo Gurgel Filho
Publisher	Institute of Electrical and Electronics Engineers
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781665454964
ISBN (Print)	9781665454971
DOIs	https://doi.org/10.1109/ISMCR56534.2022.9950572
Publication status	Published - 24 Nov 2022
Event	25th International Symposium on Measurement and Control in Robotics - Virtual, Online, United States Duration: 28 Sept 2022 → 30 Sept 2022

Symposium

Symposium	25th International Symposium on Measurement and Control in Robotics
Abbreviated title	ISMCR 2022
Country/Territory	United States
City	Virtual, Online
Period	28/09/22 → 30/09/22

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10.1109/ISMCR56534.2022.9950572

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Shamsfakhr, F., Palopoli, L., & Fontanelli, D. (2022). Robot localisation and uncertainty control with intermittent range-only measurements. In Z. Taqvi, S. K. Fuchter, & G. G. Filho (Eds.), 2022 International Symposium on Measurement and Control in Robotics (ISMCR) (pp. 1-6). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ISMCR56534.2022.9950572

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title = "Robot localisation and uncertainty control with intermittent range-only measurements",

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.",

author = "F. Shamsfakhr and L. Palopoli and D. Fontanelli",

year = "2022",

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day = "24",

doi = "10.1109/ISMCR56534.2022.9950572",

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booktitle = "2022 International Symposium on Measurement and Control in Robotics (ISMCR)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 ; Conference date: 28-09-2022 Through 30-09-2022",

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Shamsfakhr, F, Palopoli, L & Fontanelli, D 2022, Robot localisation and uncertainty control with intermittent range-only measurements. in Z Taqvi, SK Fuchter & GG Filho (eds), 2022 International Symposium on Measurement and Control in Robotics (ISMCR). Institute of Electrical and Electronics Engineers, pp. 1-6, 25th International Symposium on Measurement and Control in Robotics, Virtual, Online, United States, 28/09/22. https://doi.org/10.1109/ISMCR56534.2022.9950572

Robot localisation and uncertainty control with intermittent range-only measurements. / Shamsfakhr, F.; Palopoli, L.; Fontanelli, D.
2022 International Symposium on Measurement and Control in Robotics (ISMCR). ed. / Zafar Taqvi; Simone Keller Fuchter; Geraldo Gurgel Filho. Institute of Electrical and Electronics Engineers, 2022. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - 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.

AB - 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.

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T2 - 25th International Symposium on Measurement and Control in Robotics

Y2 - 28 September 2022 through 30 September 2022

ER -

Robot localisation and uncertainty control with intermittent range-only measurements

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