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The International Journal of Robotics Research
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Control for Localization of Targets using Range-only Sensors

Ethan Stump

GRASP Laboratory, University of Pennsylvania, 3330 Walnut Street, Levine Hall L402 Philadelphia, PA 19104-6228, USA, estump{at}grasp.upenn.edu

Vijay Kumar

GRASP Laboratory, University of Pennsylvania, 3330 Walnut Street, Levine Hall L402 Philadelphia, PA 19104-6228, USA, kumar{at}grasp.upenn.edu

Ben Grocholsky

Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213-3890, USA, ben.grocholsky{at}ri.cmu.edu

Pedro M. Shiroma

VERLab - DCC, Universidade Federal de Minas Gerais, CEP 31270-010 Belo Horizonte, Minas Gerais, Brazil, pshiroma{at}dcc.ufmg.br

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.

Key Words: nonlinear estimation • range-only localization • multi-robot estimation • set-theoretic techniques • over parameterization • control for localization

The International Journal of Robotics Research, Vol. 28, No. 6, 743-757 (2009)
DOI: 10.1177/0278364908098559
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