Experimental Analysis of Adaptive Concurrent Mapping and Localization Using Sonar

This paper describes the experimental verification a method for performing concurrent mapping and localization (CML) adaptively using sonar. Predicted sensor readings and expected dead-reckoning errors are used to evaluate different potential actions of the robot. The action that yields the maximum information is selected. The performance of this approach to CML is investigated via experiments with a dynamic underwater sonar sensing system in a 9 meter by 3 meter by 1 meter testing tank. Increased navigation and mapping accuracy are demonstrated in comparison to results obtained with non-adaptive sensor motion.

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