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Stochastic cloning: a generalized framework for processing relative state measurements

Roumeliotis, Stergios I. and Burdick, Joel W. (2002) Stochastic cloning: a generalized framework for processing relative state measurements. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1788-1795. ISBN 0-7803-7272-7. https://resolver.caltech.edu/CaltechAUTHORS:20190625-092837711

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Abstract

Introduces a generalized framework, termed "stochastic cloning," for processing relative state measurements within a Kalman filter estimator. The main motivation and application for this methodology is the problem of fusing displacement measurements with position estimates for mobile robot localization. Previous approaches have ignored the developed interdependencies (cross-correlation terms) between state estimates of the same quantities at different time instants. By directly expressing relative state measurements in terms of previous and current state estimates, the effect of these crosscorrelation terms on the estimation process is analyzed and considered during updates. Simulation and experimental results validate this approach.


Item Type:Book Section
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https://doi.org/10.1109/ROBOT.2002.1014801DOIArticle
Additional Information:© 2002 IEEE. This work has been supported by a grant from the Jet Propulsion Laboratory. The authors would like to thank Sam Pfister and Kristo Kriechbaum for their help with the WLSM algorithm and the collection of the experimental data.
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Record Number:CaltechAUTHORS:20190625-092837711
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-092837711
Official Citation:S. I. Roumeliotis and J. W. Burdick, "Stochastic cloning: a generalized framework for processing relative state measurements," Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), Washington, DC, USA, 2002, pp. 1788-1795 vol.2. doi: 10.1109/ROBOT.2002.1014801
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96687
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:01
Last Modified:03 Oct 2019 21:24

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