Browsing by Subject "Measurement noise"

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    Average Fisher information maximisation in presence of cost-constrained measurements
    (The Institution of Engineering and Technology, 2011) Dulek, B.; Gezici, Sinan
    An optimal estimation framework is considered in the presence of cost-constrained measurements. The aim is to maximise the average Fisher information under a constraint on the total cost of measurement devices. An optimisation problem is formulated to calculate the optimal costs of measurement devices that maximise the average Fisher information for arbitrary observation and measurement statistics. In addition, a closed-form expression is obtained in the case of Gaussian observations and measurement noise. Numerical examples are presented to explain the results.
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    Reactive planning and control of planar spring-mass running on rough terrain
    (Institute of Electrical and Electronics Engineers, 2012) Arslan, Ö.; Saranlı, U.
    An important motivation for work on legged robots has always been their potential for high-performance locomotion on rough terrain. Nevertheless, most existing control algorithms for such robots either make rigid assumptions about their environments or rely on kinematic planning at low speeds. Moreover, the traditional separation of planning from control often has negative impact on the robustness of the system. In this paper, we introduce a new method for dynamic, fully reactive footstep planning for a planar spring-mass hopper, based on a careful characterization of the model dynamics and the design of an associated deadbeat controller, used within a sequential composition framework. This yields a purely reactive controller with a large domain of attraction that requires no explicit replanning during execution. We show in simulation that plans constructed for a simplified dynamic model can successfully control locomotion of a more complete model across rough terrain. We also characterize the performance of the planner over rough terrain and show that it is robust against both model uncertainty and measurement noise without replanning. © 2012 IEEE.