English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
Add to Basket
 Local TagsRelease HistoryDetailsSummary
  Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception

Ahmad, A., & Bülthoff, H. (2015). Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception. In 7th European Conference on Mobile Robots (ECMR 2015) (pp. 1-8). Piscataway, NJ, USA: IEEE.

Item is

 

show all hide all

Basic

show hide
Item Permalink: https://hdl.handle.net/11858/00-001M-0000-002A-44C0-9 Version Permalink: https://hdl.handle.net/21.11116/0000-0000-8113-8
Genre: Conference Paper

Files

show Files

Locators

show
hide
Locator:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=arnumber=7324197 (Publisher version)
Description:
-
OA-Status:

Creators

show
hide
 Creators:
Ahmad, A1, 2, Author           
Bülthoff, HH1, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

Content

show
hide
Free keywords: -
 Abstract: In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.

Details

show
hide
Language(s):
 Dates: 2015-09
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ECMR.2015.7324197
BibTex Citekey: AhmadB2015
 Degree: -

Event

show
hide
Title: 7th European Conference on Mobile Robots (ECMR 2015)
Place of Event: Lincoln, UK
Start-/End Date: -

Legal Case

show

Project information

show

Source 1

show
hide
Title: 7th European Conference on Mobile Robots (ECMR 2015)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1 - 8 Identifier: ISBN: 978-1-4673-9163-4