Qualitative Relational Navigation using Minimal Sensing (NSF)


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PI: 
Mark Campbell
Funding: 
NSF IIS-1320490
Active Dates: 
2013-2016
People: 
Goal: 
The goal of this research is to develop a navigation methodology for robots using relational geometric models that are constructed and evaluated using minimal sensing.
Tasks: 
1. Sensing, Representations and Map Formulation: we formally define qualitative sensing, along with the underlying mathematical representations and operators to develop qualitative relative maps.
2. Considering Uncertainties: we expand sensing and mapping to include probabilistic uncertainties in the sensor likelihoods and estimation approaches.
3. Navigation: we develop a sampling based approach to navigation that intimately builds on the qualitative state representation.
4. Experimental Validation: we seek to evaluate the maturity of the proposed algorithms via an increasingly complex set of experimental validation tests using two testbeds in the PI’s lab.

Publications