Cautious Greedy Strategy for Bearing-based Active Localization: Experiments and Theoretical Analysis

Joshua Vander Hook · Pratap Tokekar · Volkan Isler

Proceedings of IEEE International Conference on Robotics and Automation 2012

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Abstract

We study the problem of minimizing the time to accurately localize a target using radio-based telemetry. The directional nature of the antenna allows us to obtain bearingto-target sensor measurements. There are two critical attributes that separate our setup from the majority of bearing-only tracking literature: ambiguity and long measurement time. We provide a sensing strategy which mitigates the effect of ambiguity, and prove that the time required to localize a target is less than a constant times any bearing-based localization strategy.

@inproceedings{ vanderhook2012cautious,
    title = "Cautious Greedy Strategy for Bearing-based Active Localization: Experiments and Theoretical Analysis",
    author = {Joshua {Vander Hook} and Pratap Tokekar and Volkan Isler},
    booktitle = {Proceedings of IEEE International Conference on Robotics and Automation},
    year = "2012",
    doi = "10.1109/ICRA.2012.6225244",
}