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Simultaneous Calibration of Action and Sensor Models on a Mobile Robot

Daniel Stronger and Peter Stone. Simultaneous Calibration of Action and Sensor Models on a Mobile Robot. In 2004 International Symposium on Robotics and Automation (ISRA), August 2004.
ISRA 2004
Some videos of the robot referenced in the paper.

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Abstract

This paper presents a technique for the Simultaneous Calibration of Action and Sensor Models (SCASM) on a mobile robot. While previous approaches to calibration make use of an independent source of feedback, SCASM is unsupervised, in that it does not receive any well calibrated feedback about its location. Starting with only an inaccurate action model, it learns accurate relative action and sensor models. Furthermore, SCASM is fully autonomous, in that it operates with no human supervision. SCASM is fully implemented and tested on a Sony Aibo ERS-7 robot.

BibTeX Entry

@InProceedings(ISRA2004-actsense,
author="Daniel Stronger and Peter Stone",
title="Simultaneous Calibration of Action and Sensor Models on a Mobile Robot",
booktitle="2004 International Symposium on Robotics and Automation (ISRA)",
month="August",year="2004",
abstract={
This paper presents a technique for the Simultaneous
Calibration of Action and Sensor Models (SCASM) on
a mobile robot. While previous approaches to
calibration make use of an independent source of
feedback, SCASM is unsupervised, in that it does
not receive any well calibrated feedback about its
location. Starting with only an inaccurate action
model, it learns accurate relative action and sensor
models. Furthermore, SCASM is fully autonomous,
in that it operates with no human supervision.
SCASM is fully implemented and tested on a Sony
Aibo ERS-7 robot.
},
)

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