2017 IEEE International Conference on Robotics and Biomimetics
Authors: Vasileios Vasilopoulos, Omur Arslan, Avik De, Daniel E. Koditschek
This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters.
This work was supported in part by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant # N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.