On Robot Localization Safety for Fixed-Lag Smoothing: Quantifying the Risk of Misassociation

Osama Abdul Hafez, Guillermo Duenas Arana, Yihe Chen, Mathieu Joerger, Matthew Spenko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Monitoring localization safety will be necessary to certify the performance of robots that operate in life-critical applications, such as autonomous passenger vehicles or delivery drones because many current localization safety methods do not account for the risk of undetected sensor faults. One type of fault, misassociation, occurs when a feature extracted from a mapped landmark is associated to a non-corresponding landmark and is a common source of error in feature-based navigation applications. This paper accounts for the probability of misassociation when quantifying landmark-based mobile robot localization safety for fixed-lag smoothing estimators. We derive a mobile robot localization safety bound and evaluate it using simulations and experimental data in an urban environment. Results show that localization safety suffers when landmark density is relatively low such that there are not enough landmarks to adequately localize and when landmark density is relatively high because of the high risk of feature misassociation.

Original languageEnglish (US)
Title of host publication2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages306-317
Number of pages12
ISBN (Electronic)9781728102443
DOIs
StatePublished - Apr 2020
Externally publishedYes
Event2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 - Portland, United States
Duration: Apr 20 2020Apr 23 2020

Publication series

Name2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020

Conference

Conference2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
CountryUnited States
CityPortland
Period4/20/204/23/20

ASJC Scopus subject areas

  • Signal Processing
  • Aerospace Engineering
  • Control and Optimization
  • Instrumentation

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  • Cite this

    Hafez, O. A., Arana, G. D., Chen, Y., Joerger, M., & Spenko, M. (2020). On Robot Localization Safety for Fixed-Lag Smoothing: Quantifying the Risk of Misassociation. In 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 (pp. 306-317). [9110126] (2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PLANS46316.2020.9110126