Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation.
Badamchizadeh, Mohammad Ali, Hassanzadeh, Iraj, Fallah, Mehdi Abedinpour (2010)
Discrete Dynamics in Nature and Society
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Badamchizadeh, Mohammad Ali, Hassanzadeh, Iraj, Fallah, Mehdi Abedinpour (2010)
Discrete Dynamics in Nature and Society
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Piotr Skrzypczyński (2009)
International Journal of Applied Mathematics and Computer Science
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This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major...
Arantes, Gilberto jun., Martins-Filho, Luiz S., Santana, Adrielle C. (2009)
Mathematical Problems in Engineering
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Robert Bączyk, Andrzej Kasiński (2010)
International Journal of Applied Mathematics and Computer Science
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Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to...
Andreas Rauh, Saif S. Butt, Harald Aschemann (2013)
International Journal of Applied Mathematics and Computer Science
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The focus of this paper is to develop reliable observer and filtering techniques for finite-dimensional battery models that adequately describe the charging and discharging behaviors. For this purpose, an experimentally validated battery model taken from the literature is extended by a mathematical description that represents parameter variations caused by aging. The corresponding disturbance models account for the fact that neither the state of charge, nor the above-mentioned parameter...
Mateusz Kowalski, Piotr Kaczmarek, Rafał Kabaciński, Mieszko Matuszczak, Kamil Tranbowicz, Robert Sobkowiak (2014)
International Journal of Applied Mathematics and Computer Science
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Bessios, Anthony G., Caimi, Frank M. (1996)
Mathematical Problems in Engineering
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Anis Ahmed, Mieczyslaw Brdys (2006)
International Journal of Applied Mathematics and Computer Science
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This paper details a proposal for the position control system of a two-axis ship-mounted tracker. Aspects of the non-linear dynamics governing Line-Of-Sight (LOS) errors between the tracker and the target are presented. It is shown that the regulation of LOS errors can be achieved by introducing a feed-forward term based on the target's velocity. This velocity is not measurable, and an estimator is required. Given that the tracking problem is non-linear, the classical separation principle...
Vepa, Ranjan (2010)
Mathematical Problems in Engineering
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André M. Santana, Adelardo A.D. Medeiros (2012)
International Journal of Applied Mathematics and Computer Science
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This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters...
Hassanzadeh, I., Nejadfard, A., Zadi, M. (2011)
Mathematical Problems in Engineering
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Włodzimierz Kasprzak, Artur Wilkowski, Karol Czapnik (2012)
International Journal of Applied Mathematics and Computer Science
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A computer vision system is described that captures color image sequences, detects and recognizes static hand poses (i.e., "letters") and interprets pose sequences in terms of gestures (i.e., "words"). The hand object is detected with a double-active contour-based method. A tracking of the hand pose in a short sequence allows detecting "modified poses", like diacritic letters in national alphabets. The static hand pose set corresponds to hand signs of a thumb alphabet. Finally, by tracking...
Piotr Skrzypczyński (2005)
International Journal of Applied Mathematics and Computer Science
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This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot...