Stability and robustness analysis tools for marine robot localization and SLAM applications
Name
Englot-2009-Stability and robustness analysis tools for marine robot localization and SLAM applications.pdf
Size
1.08 MB
Format
Adobe PDF
Checksum (MD5)
11ddd6b1136ec7f6dbe4404f15593e9d
Author(s)
Englot, Brendan J.
Hover, Franz S.
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Englot, B., and F. Hover. “Stability and robustness analysis tools for marine robot localization and SLAM applications.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 4426-4432. © Copyright 2009 IEEE
Version
Final published version
Abstract
Our aim is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, our planar vehicle model performs localization using point features from a given map. Cases in which the agent must update the map are also considered. The stability of the controller and estimator duo is investigated using a pair of theorems requiring boundedness and convergence of the transition matrix Euclidean norm. These theorems yield a stability test for the feedback controller. Perturbations are then considered using a theorem on the convergence on the perturbed system transition matrix, yielding a robustness test for the estimator. Together, these tests form a set of tools which can be used in planning and evaluating the robustness of marine vehicle survey trajectories, which is demonstrated through experiment.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354171
