Recursive integrity monitoring for mobile robot localization safety

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

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

4 Scopus citations

Abstract

This paper presents a new methodology to quantify robot localization safety by evaluating integrity risk, a performance metric widely used in open-sky aviation applications that has been recently extended to mobile ground robots. Here, a robot is localized by feeding relative measurements to mapped landmarks into an Extended Kalman Filter while a sequence of innovations is evaluated for fault detection. The main contribution is the derivation of a sequential chi-squared integrity monitoring methodology that maintains constant computation requirements by employing a preceding time window and, at the same time, is robust against faults occurring prior to the window. Additionally, no assumptions are made on either the nature or shape of the faults because safety is evaluated under the worst possible combination of sensor faults.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages305-311
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Arana, G. D., Hafez, O. A., Joerger, M., & Spenko, M. (2019). Recursive integrity monitoring for mobile robot localization safety. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 305-311). [8794115] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794115