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We present a localization system which computes, by extended Kalman filtering, the position and heading of a vehicle using both odometry and the measurement of the relative azimuth angles of known landmarks. Observa-bility of the continuous system is studied and gives information on situations where the performance of the filter may deteriorate. Results of(More)
For precise localization of outdoor mobile robots, Real-Time Kinematic Global Positioning System (RTK GPS) has obvious advantages: position data are given with centimeter-accuracy, and the required infrastructure is reduced to a sole fixed reference station. Yet, the use of this solution arises a number of issues, such as satellite maskings, or the(More)
Optimizing the inter-distances between vehicles is very important to reduce traffic congestion on highways. Variable spacing and constant spacing are the two policies for the longitudinal control of platoons. Variable spacing doesn't require a lot of data (position, speed...) from other vehicles, and string stability can be obtained using on-board(More)
Recently in [1], a modification of classical constant time headway policy (CTH) was proposed in order to make CTH very practical and easy to use in real applications. This modification was tested and its benefits were shown only for highways application. In this paper, this modification is generalized in order to make it applicable in urban environment.(More)
— A two-dimensional (2-D) mobile robot localization system which uses odometry and the azimuth angles of known landmarks is presented. Observability analysis helps to determine situations where such a system may undergo difficulties, and gives information on its behavior when one of the beacons is hidden. Experimental results are presented.
This paper deals with the determination of the full 3-D position and spatial orientation of a mobile robot from six azimuth and elevation angle measurements provided by an automatic theodolite. Stochastic approaches have already proved to be interesting for navigation algorithms, but they require a reliable initial estimation of the vehicle posture.(More)
An operator-aiding system for compactors must incorporate a localization system. In this paper, we consider Real-Time Kinematic GPS and we present the solutions we have developed to maintain the positioning error lower than 0.2 m even during the satellite (limited) masking phases. By combining gyro, steering angle and speed measurements, we show that it is(More)
Self-driving car's navigation requires a very precise localization covering wide areas and long distances. Moreover, they have to do it at faster speeds than conventional mobile robots. This paper reports on an efficient technique to optimize the position of a sequence of maps along a journey. We take advantage of the short-term precision and reduced space(More)