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
Start Page
2630
Last Page
2637
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}, pages = {2630-2637}}
Included in
Electrical and Computer Engineering Commons, Robotics Commons, Systems Engineering Commons
Date Posted: 20 October 2017
This document has been peer reviewed.
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.