SLAM problem via H filter with compensation for intermittent observation

Yoshihiro Okawa, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages386-391
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Simultaneous Localization and Mapping
Robots
Filter
Covariance matrix
Robot
Landmarks
Observation
Compensation and Redress
Experimental Results
Theorem
Estimate
Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Okawa, Y., & Namerikawa, T. (2014). SLAM problem via H filter with compensation for intermittent observation. In International Workshop on Advanced Motion Control, AMC (pp. 386-391). [6823313] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823313

SLAM problem via H filter with compensation for intermittent observation. / Okawa, Yoshihiro; Namerikawa, Toru.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 386-391 6823313.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Okawa, Y & Namerikawa, T 2014, SLAM problem via H filter with compensation for intermittent observation. in International Workshop on Advanced Motion Control, AMC., 6823313, Institute of Electrical and Electronics Engineers Inc., pp. 386-391, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823313
Okawa Y, Namerikawa T. SLAM problem via H filter with compensation for intermittent observation. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 386-391. 6823313 https://doi.org/10.1109/AMC.2014.6823313
Okawa, Yoshihiro ; Namerikawa, Toru. / SLAM problem via H filter with compensation for intermittent observation. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 386-391
@inproceedings{d1d0989d504e4098923d0948352646d6,
title = "SLAM problem via H∞ filter with compensation for intermittent observation",
abstract = "This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H∞ filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.",
author = "Yoshihiro Okawa and Toru Namerikawa",
year = "2014",
doi = "10.1109/AMC.2014.6823313",
language = "English",
isbn = "9781479923243",
pages = "386--391",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - SLAM problem via H∞ filter with compensation for intermittent observation

AU - Okawa, Yoshihiro

AU - Namerikawa, Toru

PY - 2014

Y1 - 2014

N2 - This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H∞ filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.

AB - This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H∞ filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.

UR - http://www.scopus.com/inward/record.url?scp=84903169327&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903169327&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823313

DO - 10.1109/AMC.2014.6823313

M3 - Conference contribution

SN - 9781479923243

SP - 386

EP - 391

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -