Field and service applications - An autonomous straddle carrier for movement of shipping containers - From Research to Operational Autonomous Systems

Durrant‐Whyte, Hugh; Pagac, D.; Rogers, Bonnie Lida; Stevens, M J; Nelmes, G.

doi:10.1109/mra.2007.901316

Cited by 48 publications

(26 citation statements)

References 8 publications

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“…In such environments, the restriction to existing features for orientation can be insufficient for establishing safe and reliable navigation. Many practical applications therefore rely on artificial landmarks placed along the trajectories taken by the robot to allow for accurate localization [8,10]. Placing artificial landmarks is often expensive and at the same time the computational power of the robot is limited which imposes substantial limits on the number of landmarks that can be placed.…”

Section: Introductionmentioning

confidence: 99%

Effective landmark placement for accurate and reliable mobile robot navigation

Beinhofer

Müller

Burgard

2013

Robotics and Autonomous Systems

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Being able to navigate accurately is one of the fundamental capabilities of a mobile robot to effectively execute a variety of tasks including docking, transportation, and manipulation. As real-world environments often contain changing or ambiguous areas, existing features can be insufficient for mobile robots to establish a robust navigation behavior. A popular approach to overcome this problem and to achieve accurate localization is to use artificial landmarks. In this paper, we consider the problem of optimally placing such artificial landmarks for mobile robots that repeatedly have to carry out certain navigation tasks. Our method aims at finding the minimum number of landmarks for which a bound on the maximum deviation of the robot from its desired trajectory can be guaranteed with high confidence. The proposed approach incrementally places landmarks utilizing linearized versions of the system dynamics of the robot, thus allowing for an efficient computation of the deviation guarantee. We evaluate our approach in extensive experiments carried out both in simulation and with real robots. The experiments demonstrate that our method outperforms other approaches and is suitable for long-term operation of mobile robots.

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Section: Introductionmentioning

confidence: 99%

Effective landmark placement for accurate and reliable mobile robot navigation

Beinhofer

Müller

Burgard

2013

Robotics and Autonomous Systems

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“…Especially in industrial applications, where a high degree of robustness is required even when the environments are dynamic, a popular solution to this problem is the use of active beacons [4], [10] or artificial landmarks [5], [17].…”

Section: Introductionmentioning

confidence: 99%

“…The locations of the landmarks should be chosen depending on theses trajectories. In practice, the landmark positions are often manually selected [4].…”

Section: Introductionmentioning

confidence: 99%

Near-optimal landmark selection for mobile robot navigation

Beinhofer

Müller

Burgard

2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-The ability to accurately localize themselves is a fundamental pre-condition for service robots designed to carry out navigation and transportation tasks. Because of the high degree of dynamics in populated and real-world environments, often artificial landmarks are used to achieve the desired accuracy in localization. In this paper we consider the problem of optimally placing landmarks for robots navigating frequently on similar trajectories. Our method maximizes conditional mutual information of the states of the robot given the landmark observations. It uses a greedy algorithm which approximates the solution of the NP-hard maximization problem. For this algorithm, we derive a tight constant-factor bound on the approximation error. We furthermore evaluate the selected landmark sets in extensive experiments carried out both in simulation and with a real robot.

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“…These include design of earthquake resistant structures, which sway during an earthquake and are designed to remain linear for small to moderate earthquakes and to have bounded, nonlinear, deformations for large earthquakes (see, e.g., [1,2]), robotic manipulator motion design (see, e.g., [3]), electronic filter design (see, e.g., [4]), and computer controlled vehicles [5]. Computer controlled vehicles represent a particularly large and important class of applications for our proposed technique because often the optimization computations must be performed in real time, fast enough to keep up with the motion of the vehicle.…”

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confidence: 99%

On the Use of Outer Approximations as an External Active Set Strategy

Chung

Polak

Sastry

2010

J Optim Theory Appl

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Outer approximations are a well known technique for solving semiinfinite optimization problems. We show that a straightforward adaptation of this technique results in a new, external, active-set strategy that can easily be added to existing software packages for solving nonlinear programming problems with a large number of inequality constraints. Our external active-set strategy is very easy to implement, and, as our numerical results show, it is particularly effective when applied to discretized semiinfinite optimization or state-constrained optimal control problems. Its effects can be spectacular, with reductions in computing time that become progressively more pronounced as the number of inequalities is increased.

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Field and service applications - An autonomous straddle carrier for movement of shipping containers - From Research to Operational Autonomous Systems

Cited by 48 publications

References 8 publications

Effective landmark placement for accurate and reliable mobile robot navigation

Effective landmark placement for accurate and reliable mobile robot navigation

Near-optimal landmark selection for mobile robot navigation

On the Use of Outer Approximations as an External Active Set Strategy

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