Departmental Papers (ESE)

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Abstract

This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters.

For more information: Kod*lab

Sponsor Acknowledgements

This work was supported in part by by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

12-2017

Publication Source

2017 IEEE International Conference on Robotics and Biomimetics

Comments

This work was supported in part by by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.

Copyright/Permission Statement

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Keywords

legged robots, sensor-based motion planning, collision avoidance, target localization, homing

Bib Tex

@INPROCEEDINGS{vasilopoulos_arslan_de_koditschek_2017, author={Vasilopoulos, V. and Arslan, O. and De, A. and Koditschek, D.E.}, booktitle={2017 IEEE International Conference on Robotics and Biomimetics}, title={Sensor-Based Legged Robot Homing Using Range-Only Target Localization}, year={2017}}

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Date Posted: 20 October 2017

This document has been peer reviewed.