Showing papers by "Uwe D. Hanebeck published in 1996"
22 Apr 1996
TL;DR: Novel algorithms are proposed for: 1) efficient posture initialization based on a simple linear solution; and 2) recursive posture estimation derived in a set theoretic framework that cope with non-white, non-Gaussian noise and deterministic errors.
Abstract: We study the problem of localizing a mobile robot with an onboard-device making angular measurements on the location of known but indistinguishable landmarks. Novel algorithms are proposed for: 1) efficient posture initialization based on a simple linear solution; and 2) recursive posture estimation. Derived in a set theoretic framework, the algorithms cope with non-white, non-Gaussian noise and deterministic errors. Experiments with the set theoretic posture estimator demonstrate its simplicity and effectiveness in real-world applications.
64 citations
TL;DR: A novel fuzzy network controller is introduced which is similar to a radial basis function neural network, contains structured information and may be characterized by a few parameters only, and is applied for training of these networks with experiments or by examples.
32 citations
07 May 1996
TL;DR: An efficient noniterative algorithm for active localization of objects is developed, based on intersecting elliptic curves defined by uncertain range-sum measurements between a signal source, the objects, and a number of arbitrarily located receivers.
Abstract: An efficient noniterative algorithm for active localization of objects is developed. It is based on intersecting elliptic curves defined by uncertain range-sum measurements between a signal source, the objects, and a number of arbitrarily located receivers. Measurement errors are modelled as being unknown but bounded in amplitude by a closed convex set. Based on this set-theoretic uncertainty model, an error propagation analysis is performed, that allows one to accurately bound estimation errors. For discriminating object primitives and for discarding erroneous measurements, a hypothesis test is derived. The algorithm's computational load is much lower than for grid-based methods and iterative techniques. A recursive formulation is provided to support real-time applications.
22 citations
22 Apr 1996
TL;DR: This problem is solved by developing a combined set theoretic and Bayesian recursive estimator that provides a continuous transition between both concepts in that it converges to a set theoretics and a Bayesian estimator when the stochastic error vanishes.
Abstract: Considers state estimation based on observations which are simultaneously corrupted by a deterministic amplitude-bounded unknown bias and a possibly unbounded random process. This problem is solved by developing a combined set theoretic and Bayesian recursive estimator. It provides a continuous transition between both concepts in that it converges to a set theoretic estimator when the stochastic error vanishes and to a Bayesian estimator when the deterministic error vanishes. In the mixed noise case, the new estimator supplies solution sets defined by bounds that are uncertain in a statistical sense.
17 citations
TL;DR: Novel algorithms are proposed, derived within a settheoretic framework, for efficient posture initialization based on a simple linear solution scheme, and for purposes of recursive posture estimation, which cope with nonwhite, non-Gaussian noise and deterministic errors.
14 citations
01 Jan 1996
Abstract: Dieser Beitrag beschreibt Schlusselkomponenten fur mobile, weitgehend autonom handelnde, Serviceroboter, wie eine wendige Lokomotionsplattform, einen anthropomorphen Manipulatorarm, ein Multisensorsystem und eine multimodale Mensch-Roboter-Schnittstelle. Mit dem Demonstrator ROMAN werden Hard- und Softwarekonzeption dieser Komponenten und deren informationstechnische Integration zu einem Gesamtsystem beispielhaft vorgestellt. ROMANs Einsatz als personlicher Assistent im Rahmen alltaglicher Serviceaufgaben belegt die Tragfahigkeit des entwickelten integralen Ansatzes und die Leistungsfahigkeit der Schlusselkomponenten.
11 citations
TL;DR: In this paper, an algorithm for absolute localization of mobile robots, which are equipped with an onboard-device making angular measurements on the location of known but undistinguishable landmarks, is presented.
7 citations
01 Jan 1996
TL;DR: The problem of localizing a mobile robot with an onboard-device making angular measurements on the location of known but undistinguishable landmarks is studied and Noiiel algorithms are proposed for I. efficient posture initialization based on a simple linear solution and recursive posture estimation.
Abstract: We study the problem of localizing a mobile robot with an onboard-device making angular measurements on the location of known but undistinguishable landmarks. Noiiel algorithms are proposed for I. efficient posture initialization based on a simple linear solution and for 2. recursive posture estimation. Derived in a set theoretic framework, the algorithms cope with nonwhite, nongaussian noise and deterministic errors. Experiments with the set theoretic posture estimator demonstrate its simplicity and effectiveness in realworld applications.