Pose Estimation With Low-Resolution Bearing-Only Sensors

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dc.contributor.advisorMcLurkin, James D.en_US
dc.creatorRykowski, Joshua B.en_US
dc.date.accessioned2013-03-08T00:38:21Zen_US
dc.date.available2013-03-08T00:38:21Zen_US
dc.date.issued2012en_US
dc.description.abstractPose estimation of neighboring robots is a key requirement for configuration control behaviors in multi-robot systems. Estimating pose is difficult without system constraints, it is even more challenging when using minimalistic sensing alongside limited bandwidth. Minimal sensing models are a well studied field in robotics and are relevant to our particular hardware platform, the r-one, which has sensors that only measure a low-resolution bearing to neighboring robots. These bearing-only sensors are simpler to design with and cheaper to deploy in large numbers. In this thesis, I focus on the r-one multi-robot system which is capable of coarsely measuring the bearing, but not the distance, to neighbors. These sensors have a angular resolution of only 22.5 degrees due to the construction of the infrared system. I develop a particle filter algorithm that allows the r-one robot to estimate the pose of a neighbor using the infrared communication system and odometry measurements. This algorithm relies on the fusion of a coarse bearing measurement and neighbor velocities and is optimized to use the smallest communications bandwidth possible. I tested this algorithm with a simulation to demonstrate its effectiveness across varying sensor setups, neighbor update periods, and number of particles.en_US
dc.format.extent83 p.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.callnoTHESIS COMP. SCI. 2012 RYKOWSKIen_US
dc.identifier.citationRykowski, Joshua B.. "Pose Estimation With Low-Resolution Bearing-Only Sensors." (2012) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/70421">https://hdl.handle.net/1911/70421</a>.en_US
dc.identifier.digitalRykowskiJen_US
dc.identifier.urihttps://hdl.handle.net/1911/70421en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectApplied sciencesen_US
dc.subjectComputer scienceen_US
dc.titlePose Estimation With Low-Resolution Bearing-Only Sensorsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentComputer Scienceen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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