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Proceedings Paper

Human leader and robot follower team: correcting leader's position from follower's heading
Author(s): Johann Borenstein; David Thomas; Brandon Sights; Lauro Ojeda; Peter Bankole; Donald Fellars
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Paper Abstract

In multi-agent scenarios, there can be a disparity in the quality of position estimation amongst the various agents. Here, we consider the case of two agents - a leader and a follower - following the same path, in which the follower has a significantly better estimate of position and heading. This may be applicable to many situations, such as a robotic "mule" following a soldier. Another example is that of a convoy, in which only one vehicle (not necessarily the leading one) is instrumented with precision navigation instruments while all other vehicles use lower-precision instruments. We present an algorithm, called Follower-derived Heading Correction (FDHC), which substantially improves estimates of the leader's heading and, subsequently, position. Specifically, FHDC produces a very accurate estimate of heading errors caused by slow-changing errors (e.g., those caused by drift in gyros) of the leader's navigation system and corrects those errors.

Paper Details

Date Published: 7 May 2010
PDF: 10 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76921E (7 May 2010); doi: 10.1117/12.850422
Show Author Affiliations
Johann Borenstein, Univ. of Michigan (United States)
David Thomas, Univ. of Michigan (United States)
Brandon Sights, Space and Naval Warfare Systems Ctr. Pacific (United States)
Lauro Ojeda, Univ. of Michigan (United States)
Peter Bankole, Space and Naval Warfare Systems Ctr. Pacific (United States)
Donald Fellars, Space and Naval Warfare Systems Ctr. Pacific (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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