The next best touch for model-based localization

This paper introduces a tactile or contact method whereby an autonomous robot equipped with suitable sensors can choose the next sensing action involving touch in order to accurately localize an object in its environment. The method uses an information gain metric based on the uncertainty of the obj...

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Bibliographic Details
Published in2013 IEEE International Conference on Robotics and Automation pp. 99 - 106
Main Authors Hebert, Paul, Howard, Thomas, Hudson, Nicolas, Ma, Jeremy, Burdick, Joel W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2013
Subjects
Computational modeling
Entropy
Equations
Gain measurement
Mathematical model
Robots
Trajectory
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Summary:This paper introduces a tactile or contact method whereby an autonomous robot equipped with suitable sensors can choose the next sensing action involving touch in order to accurately localize an object in its environment. The method uses an information gain metric based on the uncertainty of the object's pose to determine the next best touching action. Intuitively, the optimal action is the one that is the most informative. The action is then carried out and the state of the object's pose is updated using an estimator. The method is further extended to choose the most informative action to simultaneously localize and estimate the object's model parameter or model class. Results are presented both in simulation and in experiment on the DARPA Autonomous Robotic Manipulation Software (ARM-S) robot.
ISBN:1467356417
9781467356411
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2013.6630562