Localization of robot and landmark with indistinguishability
Liu, Ye
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https://hdl.handle.net/2142/132688
Description
Title
Localization of robot and landmark with indistinguishability
Author(s)
Liu, Ye
Issue Date
2025-12-11
Director of Research (if dissertation) or Advisor (if thesis)
Mitra, Sayan
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
SLAM
Indistinguishability
Abstract
We research localization problems with robots and landmarks related to the aspect of indistinguishability in multi-dimensional spaces. With the initial position ranges for the robot and landmarks using specific measurement models, we develop a general algorithm for minimizing the position ranges under various conditions, which are related to the number of dimensions, the number of landmarks, and the value of the measurement model radius. We also study the characteristics of indistinguishable systems to derive propositions that are useful to help us distinguish the optimal ranges for robots and landmarks.
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