By Topic

Language-based Feedback Control Using Monte Carlo Sensing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
S. B. Andersson ; Division of Engineering and Applied Sciences Harvard University Cambridge, MA 02138 ; D. Hristu-Varsakelis

Landmark-based graphs are a useful and parsimonious tool for representing large scale environments. Relating landmarks by means of feedback-control algorithms encoded in a motion description language provides a level of abstraction that enables autonomous vehicles to navigate effectively by composing strings in the language to form complex strategies that would be difficult to design at the level of sensors and actuators. In such a setting, feedback control requires one to pay attention not only to sensor and actuator uncertainty, but also to the ambiguity introduced by the fact that many landmarks may look similar when using a modest set of observations. This work discusses the generation of language-based feedback control sequences for landmark-based navigation together with the problem of sensing landmarks sufficiently well to make feedback meaningful. The paper makes two contributions. First, we extend previous work to include the costs of sensing with varying degrees of accuracy. Second, we describe a Monte Carlo based approach to landmark sensing which relies on the use of particle filters. We include simulation results that illustrate our approach.

Published in:

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Date of Conference:

18-22 April 2005