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Robot navigation under uncertainties using event based sampling
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-0289-7424
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
2014 (engelsk)Inngår i: Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, IEEE conference proceedings, 2014, s. 1438-1445Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In many robot applications, sensor feedback is needed to reduce uncertainties in environment models. However, sensor data acquisition also induces costs in terms of the time elapsed to make the observations and the computations needed to find new estimates. In this paper, we show how to use event based sampling to reduce the number of measurements done, thereby saving time, computational resources and power, without jeopardizing critical system properties such as safety and goal convergence. This is done by combining recent advances in nonlinear estimation with event based control using artificial potential fields. The results are particularly useful for real time systems such as high speed vehicles or teleoperated robots, where the cost of taking measurements is even higher, in terms of stops or transmission times. We conclude the paper with a set of simulations to illustrate the effectiveness of the approach and compare it with a baseline approach using periodic measurements.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2014. s. 1438-1445
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-165896DOI: 10.1109/CDC.2014.7039603OAI: oai:DiVA.org:kth-165896DiVA, id: diva2:808982
Konferanse
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, Los Angeles, CA, 15-17 Dec. 2014
Merknad

QC 20150507

Tilgjengelig fra: 2015-04-30 Laget: 2015-04-30 Sist oppdatert: 2015-05-07bibliografisk kontrollert

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