Fox, C.W., Evans, M.H., Lepora, N.F. et al. (3 more authors) (2011) CrunchBot : a mobile whiskered robot platform. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J. and Penders, J., (eds.) 12th TAROS: Conference Towards Autonomous Robotic Systems. 12th TAROS: Conference Towards Autonomous Robotic Systems, 31 Aug - 02 Sep 2011, Sheffield, UK. Lecture Notes in Computer Science (6856). Springer , pp. 102-113. ISBN 9783642232312
Abstract
CrunchBot is a robot platform for developing models of tactile perception and navigation. We present the architecture of CrunchBot, and show why tactile navigation is difficult. We give novel real-time performance results from components of a tactile navigation system and a description of how they may be integrated at a systems level. Components include floor surface classification, radial distance estimation and navigation. We show how tactile-only navigation differs fundamentally from navigation tasks using vision or laser sensors, in that the assumptions about the data preclude standard algorithms (such as extended Kalman Filters) and require brute-force methods.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2011 Springer-Verlag. This is an author-produced version of a paper subsequently published in LNCS. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Mobile Robot; Likelihood Function; Extend Kalman Filter; Unscented Kalman Filter; Navigation Task |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 17 Jan 2020 14:52 |
Last Modified: | 17 Jan 2020 21:08 |
Status: | Published |
Publisher: | Springer |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-642-23232-9_10 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155179 |