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The next best touch for model-based localization

Hebert, Paul and Howard, Thomas and Hudson, Nicolas and Ma, Jeremy and Burdick, Joel W. (2013) The next best touch for model-based localization. In: 2013 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 99-106. ISBN 9781467356435. https://resolver.caltech.edu/CaltechAUTHORS:20190627-105232401

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Abstract

This paper introduces a tactile or contact method whereby an autonomous robot equipped with suitable sensors can choose the next sensing action involving touch in order to accurately localize an object in its environment. The method uses an information gain metric based on the uncertainty of the object's pose to determine the next best touching action. Intuitively, the optimal action is the one that is the most informative. The action is then carried out and the state of the object's pose is updated using an estimator. The method is further extended to choose the most informative action to simultaneously localize and estimate the object's model parameter or model class. Results are presented both in simulation and in experiment on the DARPA Autonomous Robotic Manipulation Software (ARM-S) robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/icra.2013.6630562DOIArticle
Additional Information:© 2013 European Union. The author wishes to acknowledge the support of the work by the National Science and Engineering Research Council of Canada (NSERC) and DARPA’s Autonomous Robotic Manipulation Software Track (ARM-S) program through an agreement with NASA. © 2013. All rights reserved.
Funders:
Funding AgencyGrant Number
Natural Sciences and Engineering Research Council of Canada (NSERC)UNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
NASAUNSPECIFIED
Record Number:CaltechAUTHORS:20190627-105232401
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190627-105232401
Official Citation:P. Hebert, T. Howard, N. Hudson, J. Ma and J. W. Burdick, "The next best touch for model-based localization," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 99-106. doi: 10.1109/ICRA.2013.6630562
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96786
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 Jun 2019 18:13
Last Modified:03 Oct 2019 21:25

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