GPS-based Localization foraSurveillance UGVinOutdoor Areas

TheANSERproject (Airport Night Surveillance Expert Robot)isdescribed, exploiting a mobile robot for autonomous surveillance incivilian airports andsimilar wideoutdoor areas. Thepaper focuses onthelocalization subsystem ofthepatrol robot: incontrast withmost approaches inliterature, weshowhowapositioning subsystem composed exclusively ofanon-differential GPS unit(i.e., without inertial sensors) isenough toensure accurate estimates oftherobot's position andorientation, under theassumption ofnon-holonomic kinematics.