Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments

Manuel Simas; Bruno J. Guerreiro; Pedro Batista

doi:10.1109/RITAPP.2019.8932884

Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments

Manuel Simas, Bruno J. Guerreiro, Pedro Batista

DEE - Departamento de Engenharia Electrotécnica e de Computadores

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.

Original language	English
Title of host publication	2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	180-185
Number of pages	6
ISBN (Electronic)	9781728131184
DOIs	https://doi.org/10.1109/RITAPP.2019.8932884
Publication status	Published - Nov 2019
Event	7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019 - Daejeon, Korea, Republic of Duration: 1 Nov 2019 → 3 Nov 2019

Conference

Conference	7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019
Country/Territory	Korea, Republic of
City	Daejeon
Period	1/11/19 → 3/11/19

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10.1109/RITAPP.2019.8932884

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Simas, M., Guerreiro, B. J., & Batista, P. (2019). Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments. In 2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019 (pp. 180-185). Article 8932884 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/RITAPP.2019.8932884

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title = "Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments",

abstract = "This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.",

author = "Manuel Simas and Guerreiro, {Bruno J.} and Pedro Batista",

note = "LISBOA-01-0145-FEDER-032107. LISBOA-01-0145-FEDER-029605. UID/EEA/50009/2019. UID/EEA/00066/2019 Sem PDF conforme despacho.; 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019 ; Conference date: 01-11-2019 Through 03-11-2019",

year = "2019",

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doi = "10.1109/RITAPP.2019.8932884",

language = "English",

pages = "180--185",

booktitle = "2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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Simas, M, Guerreiro, BJ & Batista, P 2019, Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments. in 2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019., 8932884, Institute of Electrical and Electronics Engineers (IEEE), pp. 180-185, 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019, Daejeon, Korea, Republic of, 1/11/19. https://doi.org/10.1109/RITAPP.2019.8932884

Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments. / Simas, Manuel; Guerreiro, Bruno J.; Batista, Pedro.
2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019. Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 180-185 8932884.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.

AB - This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.

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M3 - Conference contribution

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ER -

Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments

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