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Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing

2021-10-04 23:43:23
Xiao Li, Yutong Li, Anouck Girard, Ilya Kolmanovsky

Abstract

In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds on the sensor and robot motion model. We establish theoretical properties and computational approaches for this set-theoretic localization approach and illustrate its application to an automated valet parking example in simulations and to omnidirectional robot localization problems in real-world experiments. We demonstrate that the set-theoretic localization method can perform robustly against uncertainty set initialization and sensor noises compared to the FastSLAM.

Abstract (translated)

URL

https://arxiv.org/abs/2110.01749

PDF

https://arxiv.org/pdf/2110.01749.pdf


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