Robust range-only beacon localization

2015-08-31 1945 speaker: Ashish Raste event: Papers We Love 12 ** sensors doppler velocity log

• bottom tracking, speed over ground IMU, compass ** beacons
• mark out boundary of region
• position may not be known
• may be moved by strong currents
• respond to pings with id and range ** task for the UAV localize itself, the figure out location of beacons relative to itself ** problem is reflection of signals from beacons need to eliminate errors with by detecting outliers ** construct a graph of measurements two measurements are consistent with each other if they intersect ** min cut -> max information metric for the quality of a cut is the average connectivity ** finding optimal cut u is hard convert to a continuous problem, which is a eigvenvalue problem then discretize the result ** beacon localization each pair of consistent measurements votes for its two possible solutions ** navigation with Extended Kalmann Filter SLAM