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Title: Efficient Integrity Monitoring for KF-based Localization
This paper presents a new method to efficiently monitor localization safety in mobile robots. Localization safety is quantified by measuring the system's integrity risk, which is a well-known aviation performance metric. However, aviation integrity monitoring solutions almost exclusively rely on the Global Navigation Satellite System (GNSS) while robot navigation usually needs the additional information provided by a state evolution model and/or relative positioning sensors, which makes previously established approaches impractical. In response, this paper develops an efficient integrity monitoring methodology applicable to Kalman Filter-based localization. The work is intended for life-or mission-critical operations such as co-robot applications where ignoring the impact of faults can jeopardize human safety.  more » « less
Award ID(s):
1637899
NSF-PAR ID:
10203878
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
2019 International Conference on Robotics and Automation (ICRA)
Page Range / eLocation ID:
6374 to 6380
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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