On the linear and nonlinear observability analysis of the slam problem

IEEE 2009 International Conference on Mechatronics, ICM 2009

Volumn , Issue , 2009, Pages

  Perera, L D L ^a   Melkumyan, A ^a   Nettleton, E ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

Observability; SLAM

Indexed keywords

ESTABLISHED FACTS; KINEMATIC MODEL; LIE DERIVATIVE; NON-LINEAR; NONLINEAR OBSERVABILITY; NONLINEAR TECHNIQUES; PIECE-WISE; RESEARCH COMMUNITIES; SIMULTANEOUS LOCALIZATION AND MAPPING; SLAM; UNOBSERVABLE;

KINEMATICS; MECHATRONICS; RESEARCH;

OBSERVABILITY;

EID: 67650317721     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2009.4957168     Document Type: Conference Paper

References (9)

1. R Smith, M. Self, and P. Cheeseman,. A stochastic map for uncertain spatial relationships. Fourth International Symposium of Robotics Research,pages 467-474, 1987.
2. M.W.M.G. Dissanayake, P Newman, S. Clark, H.F.DurrantWhyte and M. Csorba, A solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans. on Robotics and Automation, 17(3)229-241, June 2001.
3. J. Andrade-Cetto and A. Sanfeliu The Effects of Partial Observability When Building Fully Correlated Maps. IEEE Trans. on Robotics. 21(4):771-777,August2005.
4. K. Lee, W S. Wijesoma and 1. 1. Guzman "On the Observability and Observability Analysis of SLAM." Proc. JEEEIRSJ International Con! on Intelligent Robots and Systems,pages 3569-3574, October 2006.
5. D. Goshen-Meskin I. Y. Bar-ltzhack. Observability Analysis of Piece-Wise Constant Systems- Part I: Theory. IEEE Trans. on Aerospace and Electronic Systems. 28(4): 1056-1068, October 1992.
6. R Hermann and A. 1. Krener. Nonlinear Controllability and Observability. IEEE Trans. on Automatic Control. 22(5):728-740. October 1977.
7. M. Anguelova. Observability and identifiably of nonlinear systems with applications in biology. Ph.D. thesis, Department of Mathematical Sciences, Division of Mathematics, Chalmers University of Technology and Gbteborg University Gbteborg, Sweden 2007.
8. J. Kim and S. Sukkarieh Autonomous Airborne Navigation in Unknown Terrain Environments. IEEE Transactions on Aerospace and Electronic Systems. 40(3) 1031-1045, July 2004.
9. M. Bryson and S. Sukkarieh Observability Analysis and Active Control for Airborne SLAM IEEE Transactions on Aerospace and Electronic Systems. 44(1 ):261-280, January 2008.