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Feasibility study of partial observability in H∞ filtering for robot localization and mapping problem
http://hdl.handle.net/2297/25492
http://hdl.handle.net/2297/2549204fb15ae-13a7-4f8f-b8fe-2bc56d711d87
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-AHMAD-H-3980.pdf (395.7 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Feasibility study of partial observability in H∞ filtering for robot localization and mapping problem | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Ahmad, Hamzah
× Ahmad, Hamzah× Namerikawa, Toru |
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| 提供者所属 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 金沢大学理工学域 | |||||
| 提供者所属 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 慶應義塾大学 | |||||
| 書誌情報 |
Proceedings of the 2010 American Control Conference, ACC 2010 号 5531214, p. 3980-3985, 発行日 2010-01-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-142447426-4 | |||||
| 出版者 | ||||||
| 出版者 | American Control Conference | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents H∞ Filter SLAM, which is also known as the minimax filter to estimate the robot and landmarks location with the analysis on partial observability. Some convergence conditions are also presented to aid the analysis. Due to SLAM is a controllable but unobservable problem, it's difficult to estimate the position of robot and landmarks even though the control inputs are given to the system. As a result, Covariance Inflation which is a method of adding a pseudo positive semidefinite(PsD) matrix is proposed as one approach to analyze Partial Observability effects in SLAM and to reduce the computation cost. H∞ Filter is capable of withstand non-gaussian noise characteristics and therefore, may provide another available approach towards SLAM solution. © 2010 AACC. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
