Jinglun Feng

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Calibration is the process of identifying and correcting for the systematic bias component of the error in sensor measurements. Traditionally, calibration has usually been conducted by considering a set of measurements in a single time frame and restricted to linear systems with the assumption of equal-quality sensors and single modality. The basis for the(More)
Figure 1. Systematic bias and random noise of sensor measurements. ABSTRACT We have developed an on-line calibration scheme that employs a single source as the external stimulus that creates differential sensor readings used for calibration. The technique utilizes the maximal likelihood principle and a nonlinear system optimization solver to derive the(More)
A method that optimizes formation control and obstacle avoidance strategy in restricted environment is proposed in this paper. First, in order to maintain the formation while avoiding obstacles under the restricted environment, rigid formation control is implemented as the solution. Second, comparing with static changing of formation, this method takes the(More)
This paper deals with the formation and obstacle avoidance of mobile robots in a cluttered environment. By combining an artificial potential field, a leader-follower method is presented to make the multi-robot system keep formation whilst avoiding obstacles. According to the pose and movement conditions of the designated leader, the follower would adjust(More)
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