Document detail
ID
oai:arXiv.org:2407.03219
Topic
Computer Science - RoboticsAuthor
Bilevich, Michael M. Guini, Shahar Halperin, DanCategory
Computer Science
Year
2024
listing date
8/21/2024
Abstract
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements.
We present guarantees on the quality of the localization, which are robust under mild assumptions on the density of the unknown/dynamic obstacles in the known environment.
We demonstrate the effectiveness of our method in simulated experiments for different environments and varying dynamic-obstacle density.
Our open source software is available at https://github.com/TAU-CGL/vb-fdml2-public.
Bilevich, Michael M.,Guini, Shahar,Halperin, Dan, 2024, Localization in Dynamic Planar Environments Using Few Distance Measurements
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