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Robotic Mapping and Localization Considering Unknown Noise Statistics
http://hdl.handle.net/2297/36634
http://hdl.handle.net/2297/36634f56d4704-da21-4741-aeb6-cf52fc015464
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-NAMERIKAWA-T-70.pdf (2.4 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Robotic Mapping and Localization Considering Unknown Noise Statistics | |||||
| 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_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Ahmad, Hamzah
× Ahmad, Hamzah× Namerikawa, Toru |
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| 書誌情報 |
Journal of System Design and Dynamics 巻 5, 号 1, p. 70-82, 発行日 2011-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1881-3046 | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1299/jsdd.5.70 | |||||
| 出版者 | ||||||
| 出版者 | The Japan Society of Mechanical Engineers = 日本機械学会 | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents an analysis of H∞ Filter(HF) for Robotics Mapping and Localization with unknown noise statistics. HF which is also known as the minimax filter is proposed in this paper to estimate the robot and landmarks location while robot moves through an unknown environment. Some of the conditions are proposed to ensure that the state covariance in HF is converging to a steady state value. Furthermore, the analysis of HF convergence for a robot observing landmarks are presented to examine its behavior through the observations. From the experimental results, HF gives a sufficient estimation about the environment. Subsequently, such a result can provide other available estimation methods with the capability to ensure and improved estimation in robotic mapping and localization problem. | |||||
| 権利 | ||||||
| 権利情報 | Copyright © 2011 by The Japan Society of Mechanical Engineers 日本機械学会 | |||||
| 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 | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | https://www.jstage.jst.go.jp/browse/jsdd | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://www.jsme.or.jp/ | |||||
