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Stochastically convergent localization of objects by mobile sensors and actively controllable relative sensor-object
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
2015 (English)In: 2009 European Control Conference, ECC 2009, 2015, 2384-2389 p.Conference paper (Refereed)
Abstract [en]

The problem of object (network) localization using a mobile sensor is examined in this paper. Specifically, we consider a set of stationary objects located in the plane and a single mobile nonholonomic sensor tasked at estimating their relative position from range and bearing measurements. We derive a coordinate transform and a relative sensor-object motion model that leads to a novel problem formulation where the measurements are linear in the object positions. We then apply an extended Kalman filter-like algorithm to the estimation problem. Using stochastic calculus we provide an analysis of the convergence properties of the filter. We then illustrate that it is possible to steer the mobile sensor to achieve a relative sensor-object pose using a continuous control law. This last fact is significant since we circumvent Brockett's theorem and control the relative sensor-source pose using a simple controller.

Place, publisher, year, edition, pages
2015. 2384-2389 p.
Keyword [en]
Mathematical transformations, Stochastic systems, Brockett's theorem, Co-ordinate transform, Continuous control, Convergence properties, Estimation problem, Problem formulation, Relative positions, Stochastic calculus, Calculations
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-167380ScopusID: 2-s2.0-84955179567ISBN: 9783952417393OAI: diva2:815255
2009 10th European Control Conference, ECC 2009; Budapest; Hungary; 23 August 2009 through 26 August 2009

QC 20150529

Available from: 2015-05-29 Created: 2015-05-22 Last updated: 2016-06-14Bibliographically approved

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