Immanuel A. R. Ashokaraj

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Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation approach using an interval analysis (IA) based adaptive mechanism for an unscented Kalman filter (UKF). The robot is equipped with inertial sensors (INS), encoders and ultrasonic sensors. A UKF is used(More)
Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation approach using an interval analysis (IA) based adaptive mechanism for an unscented Kalman filter (UKF). The robot is equipped with inertial sensors (INS), encoders and ultrasonic sensors. An UKF is used(More)
Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation approach using an interval analysis (IA) based adaptive mechanism for an Unscented Kalman filter (UKF). The robot is equipped with inertial sensors (INS), encoders and ultrasonic sensors. An UKF is used(More)
This paper describes a multiple sensor fusion approach in which a sensor based navigation scheme needs to fuse a stochastic aerial robot position estimate from an extended Kalman filter (EKF) with a deterministic aerial robot position estimate from an interval analysis (IA) algorithm. The aerial robot is equipped with inertial sensors (INS) and ultrasonic(More)
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