dc.creator | Fabresse, Felipe Ramón | es |
dc.creator | Caballero Benítez, Fernando | es |
dc.creator | Maza Alcañiz, Iván | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2024-01-15T14:38:35Z | |
dc.date.available | 2024-01-15T14:38:35Z | |
dc.date.issued | 2018-06 | |
dc.identifier.citation | Fabresse, F.R., Caballero Benítez, F., Maza Alcañiz, I. y Ollero Baturone, A. (2018). An efficient approach for undelayed range-only SLAM based on Gaussian mixtures expectation. Robotics and Autonomous Systems, 104, 40-55. https://doi.org/10.1016/j.robot.2018.02.014. | |
dc.identifier.issn | 1872-793X | es |
dc.identifier.issn | 0921-8890 | es |
dc.identifier.uri | https://hdl.handle.net/11441/153398 | |
dc.description.abstract | This paper deals with range-only simultaneous localization and mapping (RO-SLAM), which is of particular interest in aerial robotics where low-weight range-only devices can provide a complementary continuous estimation between robot and landmarks when using radio-based sensors. Range-only sensors work at greater distances when compared to other commonly used sensors in aerial robotics and they are low-cost. However, the spherical shell uniform distribution inherent to range-only observations poses significant technological challenges, restricting the approaches that can be used to solve this problem. This paper presents an undelayed multi-hypothesis Extended Kalman Filter (EKF) approach based on Gaussian Mixture Models (GMM) and a reduced parameterization of the state vector to improve its efficiency. The paper also proposes a new robot-to-landmark and landmark-to-landmark range-only observation model for EKF-SLAM which takes advantage of the reduced parameterization. Finally, a new scheme is proposed for updating hypothesis weights based on an independence of beacon parameters. The method is firstly validated with simulations comparing the results with other state-of-the-art methods and later validated with real experiments for 3D RO-SLAM using several radio-based range-only sensors and an aerial robot. | es |
dc.description.sponsorship | Comisión Europea ARCAS project FP7-ICT-2011-7- 287617 | es |
dc.description.sponsorship | RANCOM P11-TIC-7066 | es |
dc.description.sponsorship | CLEAR DPI2011- 28937-C02-01 | es |
dc.format | application/pdf | es |
dc.format.extent | 16 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | Robotics and Autonomous Systems, 104, 40-55. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Range-only simultaneous localization and mapping | es |
dc.subject | Robot localization | es |
dc.subject | Kalman filtering | es |
dc.subject | Gaussian mixture models | es |
dc.title | An efficient approach for undelayed range-only SLAM based on Gaussian mixtures expectation | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | FP7-ICT-2011-7- 287617 | es |
dc.relation.projectID | P11-TIC-7066 | es |
dc.relation.projectID | DPI2011- 28937-C02-01 | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0921889017302610 | es |
dc.identifier.doi | 10.1016/j.robot.2018.02.014 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Robotics and Autonomous Systems | es |
dc.publication.volumen | 104 | es |
dc.publication.initialPage | 40 | es |
dc.publication.endPage | 55 | es |
dc.contributor.funder | European Commission (EC) | es |