Sensor Placement for Improved Robotic Navigation

  title={Sensor Placement for Improved Robotic Navigation},
  author={Michael P. Vitus and Claire J. Tomlin},
  booktitle={Robotics: Science and Systems},
Consider a set of fixed sensors used to estimate the state of a vehicle (e.g. position, orientation and velocity) while it attempts to follow a pre-planned trajectory. Since the sensor can only provide a measurement to the vehicle when it is within range, the deployment of the sensors will have a major impact on the ability of the vehicle to follow the trajectory. The problem addressed here is to optimally place the sensors in the environment such that the weighted function of the estimation… CONTINUE READING
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