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AS-EKF : a delay aware state estimation technique for telepresence robot navigation

Das, Barnali and Dobie, Gordon and Pierce, Stephen Gareth (2019) AS-EKF : a delay aware state estimation technique for telepresence robot navigation. In: Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019. IEEE, Piscataway, NJ, pp. 624-629. ISBN 9781538692455

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Abstract

State estimation in dynamical telepresence systemsis very important in real-world applications as the true state of the robot is unspecified and sensors provide only a sequence of noisy measurements. In this research, we proposed a new technique of state estimation using delayed sensor measurements of a Telepresence robot for real-time navigation. An Augmented State Extended Kalman Filter (AS-EKF) is introduced to estimate the true position of the robot. The proposed algorithm was successfully tested in a real-environment experimental frameworkusing a state-of-the-art differential-drive telepresence robot. Our results show improvements of an average of more than 34% when compared to traditional EKF.