Localization of robot and landmark with indistinguishability

We research localization problems with robots and landmarks related to the aspect of indistinguishability in multi-dimensional spaces. With the initial position ranges for the robot and landmarks using specific measurement models, we develop a general algorithm for minimizing the position ranges under various conditions, which are related to the number of dimensions, the number of landmarks, and the value of the measurement model radius. We also study the characteristics of indistinguishable systems to derive propositions that are useful to help us distinguish the optimal ranges for robots and landmarks.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engr

Grantor

University of Illinois Urbana-Champaign

Year dc:date

2025

Author dc:creator

• Liu, Ye

Contributors dc:contributor

• Mitra, Sayan

• SLAM
• Indistinguishability

Statement dc:rights

• Copyright 2025 Ye Liu

Language dc:language

en

Handle dc:identifier

https://hdl.handle.net/2142/132688

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/132688