Sensing and filtering for localization tasks

This thesis considers two navigation problems for robots with weak sensors and simple motion primitives. We evaluate the capabilities of the robots and propose algorithms that allow them to navigate to certain points in the plane and to learn information about the robot model or the landmark locations. We, furthermore, demonstrate example tasks, such as convex hull computation, that can be performed using this information.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Katsev, Maksym

Contributors dc:contributor

• LaValle, Steven M.

• Sensing
• Navigation
• Adaptive Control

Statement dc:rights

• Copyright 2014 Maksym Katsev

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/49583

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/49583