Worley, R. orcid.org/0000-0002-3607-2650 and Anderson, S. (2020) Topological robot localization in a pipe network. In: UKRAS20 Conference: “Robots into the real world” Proceedings. UKRAS20 Conference: “Robots into the real world”, 17 Apr 2020, Online conference. EPSRC UK-RAS Network , pp. 59-60.
Abstract
Topological localization is advantageous for robots with limited sensing ability in pipe networks, where localization is made difficult if a robot incorrectly executes an action and arrives at an unknown junction. Novel incorporation of measurement of distance travelled is used in a Hidden Markov Model based localization method, which is shown to improve accuracy.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 The Authors. This is an author-produced version of a paper subsequently published in UKRAS20 Conference: “Robots into the real world” Proceedings. |
Keywords: | Robot Localization; Topological Localization; Pipe Inspection Robots |
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) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Jun 2020 12:12 |
Last Modified: | 11 Jun 2020 08:34 |
Published Version: | https://www.ukras.org/publications/ras-proceedings... |
Status: | Published |
Publisher: | EPSRC UK-RAS Network |
Refereed: | Yes |
Identification Number: | 10.31256/zw1wq5m |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:161415 |