Control for Localization of Targets using Range-only Sensors
Ethan Stump, Vijay Kumar, Ben Grocholsky, Pedro Mitsuo Shiroma · The International Journal of Robotics Research · 2009
We present an application of a novel framework and algorithms for: (1) conservatively and recursively incorporating information obtained through sensors that yield observations that are non-linear functions of the state; and (2) finding control inputs that continuously improve the quality of the resulting estimates. We present an experimental study of the application of our framework to mobile robots utilizing range-only sensors, and demonstrate its effectiveness in dealing with problems of target localization with one or more robots where traditional approaches involving linearization fail to consistently capture uncertainty.