In this paper we compare multi hypothesis localisation (MHL)—which is a mobile robot localisation method based on multi hypothesis tracking—with six other methods reported in the literature. The comparison is performed using a standard set of test data and corresponding evaluation tools, thus facilitating a direct comparison of the obtained results. The experiments show that MHL compares favour...

In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemente...

The Kalman lter(KF) is one of the most widely used methods for tracking and estimation due to its simplicity, optimality, tractability and robustness. However, the application of the KF to nonlinear systems can be diicult. The most common approach is to use the Extended Kalman Filter (EKF) which simply linearises all nonlinear models so that the traditional linear Kalman lter can be applied. Al...

An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position. Substantially better end-effector position estimation and control performance would be obtainable if direct measurements of its end-effector position were also used. The subject of this paper is extended Kalman filtering for precise esti...

An adaptive extended Kalman filter is developed and investigated for a transient heat transfer problem in which a high heat flux spot source is applied on one side of a thin plate and ultrasonic pulse time of flight is measured between spatially separated transducers on the opposite side of the plate. The novel approach is based on the uncertainty in the state model covariance and leverages tre...

Report [1] compares the Extended Kalman Filter [2, 3, 4], the Iterated Extended Kalman Filter, IEKF, [2, 3, 4] and the Linear Regression Kalman Filter [5] (e.g. the Unscented Kalman Filter, UKF, [6, 7, 8]) on (i) consistency and (ii) information content of their results (estimates and covariance matrices). The nonlinear filter proposed by Bellaire et al. in [9] is not discussed in report [1]. T...

Comparisons of six heating source localisation measurement models are conducted where temperature or ultrasonic time of flight readings provide the measurement update to the extended Kalman filter for estimating the location of a high heat flux spot source on a flat plate. For a particular measurement model, one of two processes are used: 1) directly using the measurements as the measurement ve...