TitleApplication of grazing-inspired guidance laws to autonomous information gathering
Publication TypeConference Proceedings
Year of Conference2014
AuthorsApker, T, Liu, S-Y, Sofge, D, J. Hedrick, K
Conference NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Pagination3828-3833
Date Published09/2014
PublisherIEEE Press
Conference LocationChicago, IL
Abstract

Domestic grazing animals follow simple, scalable rules to assign themselves trajectories to cover a pasture. We explain how to adapt these rules for an information gathering system based on a realistic robot motion model and Kalmanfilter based evidence grid that accounts for both bandwidth and sensor limitations. Our results show that this algorithm can meet or exceed the performance of state of the art field robotics systems, particularly when scalability and robustness to failure are required.

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https://www.nrl.navy.mil/itd/aic/sites/www.nrl.navy.mil.itd.aic/files/pdfs/Apker2014IROS.pdf
NRL Publication Release Number: 
14-1231-0981