Stability and robustness analysis tools for marine robot localization and SLAM applications
Author(s)Englot, Brendan J.; Hover, Franz S.
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Institute of Electrical and Electronics Engineers
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
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INSPEC Accession Number: 11009829