Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios

@article{Buchanan2020HapticSM,
  title={Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios},
  author={Russell Buchanan and Marco Camurri and M. Fallon},
  journal={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2020},
  pages={3657-3663}
}
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of situations, we have developed a type of proprioceptive localization which exploits the foot contacts made by a quadruped robot to localize against a prior map of an environment, without the help of any camera or LIDAR sensor. The proposed method enables the robot… Expand

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