Environment reconstruction and navigation with electric sense based on a Kalman filter

@article{Lebastard2013EnvironmentRA,
  title={Environment reconstruction and navigation with electric sense based on a Kalman filter},
  author={Vincent Lebastard and Christine Chevallereau and Alexis Girin and No{\"e}l Servagent and Pol Bernard Gossiaux and Fr{\'e}d{\'e}ric Boyer},
  journal={I. J. Robotics Res.},
  year={2013},
  volume={32},
  pages={172-188}
}
Electric fish sense the perturbations of a self generated electric field through their electroreceptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor inspired by this sense to address both problems of locating and estimating the size of small objects (electrolocation) and navigating in a tank. . Based on a Kalman filter, any small object in the surroundings of the motion controlled… CONTINUE READING
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