— In this article, the problem of robot localiza-tion based on relative bearing measurements is considered, where unknown but bounded measurement uncertainties are assumed. The standard approach is to linearize the non-linear measurement equations and assume a simple shaped bounding set for the exact resulting set of states. In the new approach presented here, a nonlinear transformation of the measurement equation into a higher dimensional space is performed. This yields a tight closed–form nonlinear repre-sentation of the bounding set which is superior to commonly used bounding ellipsoids or box–shaped approximations.
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