TY - GEN
T1 - Stability and robustness analysis tools for marine robot localization and SLAM applications
AU - Englot, Brendan
AU - Hover, Franz
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Our aim is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, our planar vehicle model performs localization using point features from a given map. Cases in which the agent must update the map are also considered. The stability of the controller and estimator duo is investigated using a pair of theorems requiring boundedness and convergence of the transition matrix Euclidean norm. These theorems yield a stability test for the feedback controller. Perturbations are then considered using a theorem on the convergence on the perturbed system transition matrix, yielding a robustness test for the estimator. Together, these tests form a set of tools which can be used in planning and evaluating the robustness of marine vehicle survey trajectories, which is demonstrated through experiment.
AB - Our aim is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, our planar vehicle model performs localization using point features from a given map. Cases in which the agent must update the map are also considered. The stability of the controller and estimator duo is investigated using a pair of theorems requiring boundedness and convergence of the transition matrix Euclidean norm. These theorems yield a stability test for the feedback controller. Perturbations are then considered using a theorem on the convergence on the perturbed system transition matrix, yielding a robustness test for the estimator. Together, these tests form a set of tools which can be used in planning and evaluating the robustness of marine vehicle survey trajectories, which is demonstrated through experiment.
UR - http://www.scopus.com/inward/record.url?scp=76249114280&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249114280&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354171
DO - 10.1109/IROS.2009.5354171
M3 - Conference contribution
AN - SCOPUS:76249114280
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4426
EP - 4432
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -