Cautious greedy strategy for bearing-based active localization: Experiments and theoretical analysis

Joshua Vander Hook, Pratap Tokekar, Volkan I Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

We study the problem of minimizing the time to accurately localize a target using radio-based telemetry. The directional nature of the antenna allows us to obtain bearing-to-target sensor measurements. There are two critical attributes that separate our setup from the majority of bearing-only tracking literature: sensing ambiguity and long measurement time. We provide a sensing strategy which mitigates the effect of ambiguity, and prove that the time required to localize a target is less than a constant times that of any bearing-based localization strategy which uses an Extended Kalman Filter.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1787-1792
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

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