Localization Methods for Mobile Robots - A Review

2013 ◽  
Vol 837 ◽  
pp. 561-566 ◽  
Author(s):  
Ionel Conduraru ◽  
Ioan Doroftei ◽  
Alina Conduraru (Slătineanu)
Keyword(s):  
Mobile Robots ◽  
Large Scale ◽  
Precise Determination ◽  
Autonomous Mobile Robots ◽  
Accurate Estimation ◽  
Military Operations ◽  
Successful Operation ◽  
Robot System ◽  
Robot Position

In recent years more and more emphasis was placed on the idea of autonomous mobile robots, researches being constantly rising. Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. The accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. The localization of an autonomous robot system refers mainly to the precise determination of the coordinates where the system is present at a certain moment of time. In many applications, the orientation and an initial estimation of the robot position are known, being supplied directly or indirectly by the user or the supervisor. During the execution of the tasks, the robot must update this estimation using measurements from its sensors. This is known as local localization. Using only sensors that measure relative movements, the error in the pose estimation increases over time as errors are accumulated. Localization is a fundamental operation for navigating mobile robots

Odometry Aspects of an Omni-Directional Mobile Robot with Modified Mecanum Wheels

2014 ◽  
Vol 658 ◽  
pp. 587-592
Author(s):  
Ionel Conduraru ◽  
Ioan Doroftei ◽  
Dorin Luca ◽  
Alina Conduraru Slatineanu
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Large Scale ◽  
Autonomous Mobile Robots ◽  
Accurate Estimation ◽  
Human Intervention ◽  
Military Operations ◽  
Successful Operation ◽  
Drive Mechanism

Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. When a mobile robot has to move in small and narrow spaces and to avoid obstacles, mobility is one of its main issues. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. Also, the accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. In this work, some odometry aspects of an omni-directional robot are presented and a simple odometer solution is proposed.

Of the Right and Left Hand (1646): Sir Thomas Browne's historical survey of ‘handedness”

2005 ◽  
Vol 22 (1) ◽  
pp. 30-32
Author(s):  
Caoimhghin S Breathnach
Keyword(s):  
Left Hemisphere ◽  
Large Scale ◽  
Precise Determination ◽  
Antidepressant Effect ◽  
Hemispheric Asymmetries ◽  
Left Hand ◽  
Left Handedness ◽  
The Right ◽  
Reproducible Manner

‘Handedness’ as an expression of cerebral lateralisation is valuable in analysis of hemispheric asymmetries, carrying implications for implementation (as well as interpretation) of complex cognitive functions. In recent decades it has become possible to categorise handedness in a reproducible manner and, independently, to estimate accurately the degree of language lateralisation of the brain. These advances have re-focussed attention on cerebral organisation and hemispheric asymmetries, and there is now considerable interest in the neuropsychology of left-handedness. Because of procedural and ethical constraints there are relatively few large scale studies on language dominance, whereas handedness has been studied extensively in recent decades. Language is represented in the left hemisphere in all but 1% of right-handers, and in 60% of left-handers; in 15% of right-handers speech representation was bilateral.Precise determination of handedness or lateralisation does not appear to have been assessed in major studies of electroconvulsive therapy (ECT). Results in 29 reports, when the electrodes were placed over either the non-dominant or both hemispheres, were tabulated and briefly discussed by d'Elia and Raotma, but the criterion of lateral dominance assignment was not clearly specified; the unilateral and bilateral placements were equally efficacious in their antidepressant effect. d'Elia, who introduced unilateral therapy in 1970, accepted the assumption that the left hemisphere was ‘dominant’, but later workers were more circumspect.

Robot navigation in dynamic environments using global-appearance descriptors. State of the art

2015 ◽  
Vol 2 (1) ◽  
pp. 2
Author(s):  
Yerai Berenguer Fernández
Keyword(s):  
Mobile Robots ◽  
Visual Information ◽  
State Of The Art ◽  
Robot Navigation ◽  
Continuous Optimization ◽  
Dynamic Environments ◽  
Autonomous Mobile Robots ◽  
Map Building ◽  
Future Directions ◽  
Robot Position

Map building and localization are two impor- tant abilities that autonomous mobile robots must develop. This way, much research has been carried out on these topics, and researchers have proposed many approaches to address these problems. This work presents a state of the art report on map building and localization using global appearance descriptors. In this approach, robots capture visual information from the environment and obtain, usually by means of a transformation, a global appearance descriptor for each image. Using these descriptors, the robot is able to estimate its location in a map previously built, which is also composed of a set of global appearance descriptors. Several previous investigations that have led to the approach of this research are summarized in this paper, such as researches that compare several methods of creating global appearance descriptors. In these works we observe how the continuous optimization of the algorithms has lead to better estimations of the robot position within the environment. Finally a number of future directions in which researches are currently working are listed. 

scholarly journals Accuracy and Convergence Analysis of uFA-FastSLAM for Robot and Landmarks Position Estimation

2021 ◽  
Vol 2129 (1) ◽  
pp. 012018
Author(s):  
R J Musridho ◽  
H Hasan ◽  
H Haron ◽  
D Gusman ◽  
M A Mohammad
Keyword(s):  
Mobile Robots ◽  
Convergence Analysis ◽  
Firefly Algorithm ◽  
Estimation Error ◽  
Position Estimation ◽  
Autonomous Mobile Robots ◽  
Localization And Mapping ◽  
Robot Position ◽  
Modified Firefly Algorithm ◽  
Over Time

Abstract In autonomous mobile robots, Simultaneous Localization and Mapping (SLAM) is a demanding and vital topic. One of two primary solutions of SLAM problem is FastSLAM. In terms of accuracy and convergence, FastSLAM is known to degenerate over time. Previous work has hybridized FastSLAM with a modified Firefly Algorithm (FA), called unranked Firefly Algorithm (uFA), to optimize the accuracy and convergence of the robot and landmarks position estimation. However, it has not shown the performance of the accuracy and convergence. Therefore, this work is done to present both mentioned performances of FastSLAM and uFA-FastSLAM to see which one is better. The result of the experiment shows that uFA-FastSLAM has successfully improved the accuracy (in other words, reduced estimation error) and the convergence consistency of FastSLAM. The proposed uFA-FastSLAM is superior compared to conventional FastSLAM in estimation of landmarks position and robot position with 3.30 percent and 7.83 percent in terms of accuracy model respectively. Furthermore, the proposed uFA-FastSLAM also exhibits better performances compared to FastSLAM in terms of convergence consistency by 93.49 percent and 94.20 percent for estimation of landmarks position and robot position respectively.

On-sky verification of the 6-h periodic basic angle variations of the Gaia satellite

2017 ◽  
Vol 12 (S330) ◽  
pp. 231-232
Author(s):  
Shilong Liao ◽  
Mario G. Lattanzi ◽  
Alberto Vecchiato ◽  
Zhaoxiang Qi ◽  
Mariateresa Crosta ◽  
...  
Keyword(s):  
Systematic Errors ◽  
Precise Determination ◽  
Accurate Estimation ◽  
A Value ◽  
Full Day ◽  
Astrometric Data

AbstractA Basic Angle (BA) of 106.5° separates the view directions of Gaia's two fields of view (FoV). A precise determination of the BA variations (BAV) is essential to guarantee a correct reconstruction of the global astrometric sphere, as residual systematic errors would result in, e.g., a bias in the parallaxes of the final Gaia catalog. The Basic Angle Monitoring (BAM) device, which provides a reliable and accurate estimation of BAV, shows that there exists a ~1 mas amplitude, 6-h period BA oscillation. It's essential to verify to what extent this signal is caused by real BAV, or is at least in part an effect of the BAM device itself. Here, we propose an astrometric on-sky approach to re-determine the 6-h periodic BAV. The results of this experiment, which treated a full day (17 Oct 2016) of Gaia astrometric data, recover a value for the 6-h oscillation of 1.856±0.857 mas. This is consistent, within the errors, with the BAM finding for that day.

scholarly journals Large-scale production of highly enriched28Si for the precise determination of the Avogadro constant

2006 ◽  
Vol 17 (7) ◽  
pp. 1854-1860 ◽  
Author(s):  
P Becker ◽  
D Schiel ◽  
H-J Pohl ◽  
A K Kaliteevski ◽  
O N Godisov ◽  
...  
Keyword(s):  
Large Scale ◽  
Precise Determination ◽  
Scale Production ◽  
Avogadro Constant ◽  
Large Scale Production

scholarly journals Suitability of Low-Frequency Navigation Systems for Artillery Positioning in a GNSS Denied Environment

2012 ◽  
Vol 66 (1) ◽  
pp. 35-48 ◽  
Author(s):  
J. W. Griffioen ◽  
P. J. Oonincx
Keyword(s):  
Navigation System ◽  
Large Scale ◽  
Low Frequency ◽  
Fixed Number ◽  
Positioning System ◽  
Navigation Systems ◽  
Military Operations ◽  
Positioning Method ◽  
Rtk Gps

In an environment where Global Positioning System (GPS) jamming is present, the Dutch army faces all sorts of challenges in such a deployment area, e.g., for the determination of gun locations. Nowadays, an Inertial Navigation System (INS) is used as back-up positioning system. However, to use this back-up tool within specified accuracy limits, additional procedures are needed that limit deployment. An alternative positioning method such as a low-frequency navigation system could be a solution to these problems. An example of a low-frequency navigation system that is currently operational in certain regions is eLORAN (enhanced LOng RAnge Navigation). Hypothetically, a system like this could be realised in a similar way for positioning, navigation and timing solutions for large scale military operations. That is if the performance of eLORAN meets the accuracy requirements. In this paper, eLORAN performances are examined using experiments conducted at a military heath land area in the Netherlands. Moreover, eLORAN Additional Secondary Factor (ASF) correction maps have been computed for that particular area, based on differences in position between Real-Time Kinematic (RTK) GPS and eLORAN measurements at a fixed number of points in that area. Different interpolation methods are used to create these ASF maps. The maps, obtained from static measurements, are used to enhance eLORAN's performance in dynamic measurements using a military platform. The content of this paper has been presented during the European Navigation Conference 2011 in London.

scholarly journals A systematic NGS-based approach for contaminant detection and functional inference

2019 ◽  
Author(s):  
Sung-Joon Park ◽  
Satoru Onizuka ◽  
Masahide Seki ◽  
Yutaka Suzuki ◽  
Takanori Iwata ◽  
...  
Keyword(s):  
Large Scale ◽  
Precise Determination ◽  
Host Cells ◽  
Rna Seq ◽  
Functional Inference ◽  
Apoptotic Pathways ◽  
Multiple Species ◽  
Next Generation Sequencing Ngs ◽  
Ngs Data

AbstractBackgroundMicrobial contamination impedes successful biological and biomedical research. Computational approaches utilizing next-generation sequencing (NGS) data offer promising diagnostics to assess the presence of contaminants. However, as host cells are often contaminated by multiple microorganisms, these approaches require careful attention to intra- and interspecies sequence similarities, which have not yet been fully addressed.ResultsWe present a computational approach that rigorously investigates the genomic origins of sequenced reads, including those mapped to multiple species that have been discarded in previous studies. Through the analysis of large-scale synthetic and public NGS samples, we approximated that 1,000−100,000 microbial reads prevail when one million host reads are sequenced by RNA-seq. The microbe catalog we established included Cutibacterium as a prevalent contaminant, suggesting that contamination mostly originates from the laboratory environment. Importantly, by applying a systematic method to infer the functional impact of contamination, we revealed that host-contaminant interactions cause profound changes in the host molecular landscapes, as exemplified by changes in inflammatory and apoptotic pathways during Mycoplasma infection.ConclusionsThese findings reinforce the concept that precise determination of the origins and functional impacts of contamination is imperative for quality research and illustrate the usefulness of the proposed approach to comprehensively characterize contamination landscapes.

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