Topological robot localization in a large-scale water pipe network
Published in Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings 21, 2020
This paper evaluates the use of a topological robot state definition for robots in pipe networks proposed in my previous work. The sources of uncertainty which cause an increase in estimate error are identified. Alternative state definitions are propsed which result in different values of efficiency, in terms of estimate accuracy relative to the required computational time. On reflection, the attempt to improve efficiency by using the proposed state definition went too far away from the typical state definition; this motivated further work to find a compromise between the two approaches.
Recommended citation: Worley, R., Anderson, S. R. (2020). “Topological robot localization in a large-scale water pipe network” Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings 21.