The Experts below are selected from a list of 165 Experts worldwide ranked by ideXlab platform

Shin'ichi Yuta - One of the best experts on this subject based on the ideXlab platform.

  • Fast-Bearing Measurement with a Single Ultrasonic Transducer
    The International Journal of Robotics Research, 1998
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    In conventional ultrasonic sensing, accurate ultrasonic target- Bearing Measurement is often regarded as difficult, due to the wide- beam angle of ultrasonic transducers. However, the accurate mea surement of distances and angles is usefulfor many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting Bearing information by using a single trans ducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on Bearing angle. The method em ploys a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast Measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic Bearing-Measurement approach.

  • ICRA - Wall following using angle information measured by a single ultrasonic transducer
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the Bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target Bearing Measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the Bearing angle can be measured. A new sensing method is also proposed to determine accurately the Bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only Bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

T. Yata - One of the best experts on this subject based on the ideXlab platform.

  • Fast-Bearing Measurement with a Single Ultrasonic Transducer
    The International Journal of Robotics Research, 1998
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    In conventional ultrasonic sensing, accurate ultrasonic target- Bearing Measurement is often regarded as difficult, due to the wide- beam angle of ultrasonic transducers. However, the accurate mea surement of distances and angles is usefulfor many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting Bearing information by using a single trans ducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on Bearing angle. The method em ploys a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast Measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic Bearing-Measurement approach.

  • ICRA - Wall following using angle information measured by a single ultrasonic transducer
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the Bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target Bearing Measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the Bearing angle can be measured. A new sensing method is also proposed to determine accurately the Bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only Bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

Lindsay Kleeman - One of the best experts on this subject based on the ideXlab platform.

  • Fast-Bearing Measurement with a Single Ultrasonic Transducer
    The International Journal of Robotics Research, 1998
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    In conventional ultrasonic sensing, accurate ultrasonic target- Bearing Measurement is often regarded as difficult, due to the wide- beam angle of ultrasonic transducers. However, the accurate mea surement of distances and angles is usefulfor many robot tasks, such as obstacle avoidance and wall following. In this paper, we propose a method for extracting Bearing information by using a single trans ducer in ultrasonic pulse-echo sensing, which basically exploits the dependency of the echo spectrum on Bearing angle. The method em ploys a simple approach using a zero-crossing time interval of the reflected echo, and consequently is a fast Measurement technique. This paper also presents experimental results on a real mobile robot and illustrates the usefulness of the ultrasonic Bearing-Measurement approach.

  • ICRA - Wall following using angle information measured by a single ultrasonic transducer
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1
    Co-Authors: T. Yata, Lindsay Kleeman, Shin'ichi Yuta
    Abstract:

    Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the Bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target Bearing Measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the Bearing angle can be measured. A new sensing method is also proposed to determine accurately the Bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only Bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

Brian D. O. Anderson - One of the best experts on this subject based on the ideXlab platform.

  • CDC - Cooperative localisation of UAVs in a GPS-denied environment using Bearing Measurements
    2016 IEEE 55th Conference on Decision and Control (CDC), 2016
    Co-Authors: Lvtianyang Zhang, Brian D. O. Anderson, Peter Sarunic, Hatem Hmam
    Abstract:

    This paper studies the problem of localising a Global Positioning System (GPS)-denied Unmanned Aerial Vehicle (UAV) in two-dimensional space. Suppose there are two vehicles, one which is equipped with GPS and the other is GPS-denied (but has an inertial navigation system (INS) and so is able to determine its trajectory in a local coordinate frame, but not a global coordinate frame). The GPS-equipped vehicle broadcasts its global coordinates to the GPS-denied vehicle and the GPS-denied vehicle also obtains, in its local coordinate frame, a Bearing Measurement of the GPS-equipped UAV. The paper shows that with four or more such Measurements and generic trajectories of the two UAVs, localisation in a global coordinate frame of the GPS-denied UAV is achievable. Certain nongeneric trajectories for which localisation is impossible are also identified. While in the first instance, the solution assumes zero noise in the Measurements, the techniques are then extended to deal with the presence of Measurement noise.

  • Analysis of Noisy Bearing-Only Network Localization
    IEEE Transactions on Automatic Control, 2013
    Co-Authors: Iman Shames, Adrian N. Bishop, Brian D. O. Anderson
    Abstract:

    Graph theory has been used to characterize the solvability of the sensor network localization problem with ideal (i.e., precisely known) Bearing-only Measurements between certain pairs of sensors and a limited amount of information about the position of certain nodes, i.e., anchors. In practice, however, Bearing Measurements will never be exact, and the equations whose solutions deliver sensor positions in the noiseless case may no longer have a solution. This technical brief argues that if the same conditions for localizability that exist in the noiseless case are satisfied and the Bearing Measurement errors are small enough (as will be formalized later in the technical brief), then the network will be approximately localizable, i.e., sensor position estimates can be found which are near the correct values. In particular, a bound on the position errors is found in terms of a bound on the Bearing errors. Later, this bound is used to propose a method to select anchors to minimize the effect of noisy Bearing Measurements on the localization solution.

Aboelmagd Noureldin - One of the best experts on this subject based on the ideXlab platform.

  • unconstrained underwater multi target tracking in passive sonar systems using two stage pf based technique
    International Journal of Systems Science, 2014
    Co-Authors: Jacques Georgy, Aboelmagd Noureldin
    Abstract:

    A robust particle filter PF-based multi-target tracking solution for passive sonar systems able to track an unknown time-varying number of multiple targets, while keeping continuous tracks of such targets, is presented in this article. PF is a nonlinear filtering technique that can accommodate arbitrary sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF is employed and is called Mixture PF. The commonly used sampling/importance resampling PF samples from the prior importance density, while Mixture PF samples from both the prior and the observation likelihood. In order to be able to track an unknown time-varying number of multiple targets, two Mixture PFs are used, one for target detection and the other for tracking multiple targets, and a density-based clustering technique is used after the first filter. This article demonstrates the applicability of the proposed technique for the passive problem, which suffers from the lack of Measurements and the small detection range of the buoys, especially for weak signals. A contact-level simulation was used to generate different scenarios and the performance of the proposed technique called Clustered-Mixture PF was examined with either Bearing Measurement only or Bearing and Doppler Measurements, and it demonstrated its high performance.