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Further Results with Localization and Mapping Using Range from Radio

  • Joseph Djugash
  • Sanjiv Singh
  • Peter Corke
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)

Summary

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.

Keywords

SLAM range-based localization kalman filter particle filter 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Joseph Djugash
    • 1
  • Sanjiv Singh
    • 1
  • Peter Corke
    • 2
  1. 1.Carnegie Mellon UniversityPittsburghUSA
  2. 2.CSIRO ICT CentreKenmoreAustralia

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