An Augmented State Vector Approach to GPS-Based Localization

Abstract

The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a nondifferential GPS unit and a laser rangefinder for map-based localization (inertial… (More)
DOI: 10.1109/IROS.2007.4399316

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