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Preliminary results on globally asymptotically stable simultaneous localization and mapping in 3-D
Lourenco P.2; Guerreiro B.J.2; Batista P.2; Oliveira P.2; Silvestre C.1
2013-09-11
Conference NameAmerican Control Conference (ACC)
Source PublicationProceedings of the American Control Conference
Pages3087-3092
Conference DateJUN 17-19, 2013
Conference PlaceWashington, DC
CountryUSA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

This paper presents the design, analysis, performance evaluation, and preliminary experimental validation of a globally asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with application to unmanned aerial vehicles (UAVs). The SLAM problem is formulated in a sensor-based framework and modified in such a way that the system structure may be regarded as linear time-varying for observability purposes, from which a Kalman filter with GAS error dynamics follows naturally. The proposed solution includes the estimation of both body-fixed linear velocity and rate-gyro measurement biases. Both simulation results and preliminary experimental results, using an instrumented quadrotor equipped with a RGB-D camera, are included in the paper to illustrate the performance of the algorithm under realistic conditions. © 2013 AACC American Automatic Control Council.

URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000327210203044
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被引频次[WOS]:5   [WOS记录]     [WOS相关记录]
Document TypeConference paper
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto de Sistemas e Robótica
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Lourenco P.,Guerreiro B.J.,Batista P.,et al. Preliminary results on globally asymptotically stable simultaneous localization and mapping in 3-D[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2013:3087-3092.
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