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A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the *hopping* motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.

- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E106-A No.5 pp.715-720

- Publication Date
- 2023/05/01

- Publicized
- 2022/10/24

- Online ISSN
- 1745-1337

- DOI
- 10.1587/transfun.2022MAP0005

- Type of Manuscript
- Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)

- Category

Shuntaro TAKEKUMA

Nagoya University

Shun-ichi AZUMA

Kyoto University

Ryo ARIIZUMI

Nagoya University

Toru ASAI

Nagoya University

The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.

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Shuntaro TAKEKUMA, Shun-ichi AZUMA, Ryo ARIIZUMI, Toru ASAI, "Optimal Movement for SLAM by Hopping Rover" in IEICE TRANSACTIONS on Fundamentals,
vol. E106-A, no. 5, pp. 715-720, May 2023, doi: 10.1587/transfun.2022MAP0005.

Abstract: A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the *hopping* motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.

URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2022MAP0005/_p

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@ARTICLE{e106-a_5_715,

author={Shuntaro TAKEKUMA, Shun-ichi AZUMA, Ryo ARIIZUMI, Toru ASAI, },

journal={IEICE TRANSACTIONS on Fundamentals},

title={Optimal Movement for SLAM by Hopping Rover},

year={2023},

volume={E106-A},

number={5},

pages={715-720},

abstract={A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the *hopping* motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.},

keywords={},

doi={10.1587/transfun.2022MAP0005},

ISSN={1745-1337},

month={May},}

Copy

TY - JOUR

TI - Optimal Movement for SLAM by Hopping Rover

T2 - IEICE TRANSACTIONS on Fundamentals

SP - 715

EP - 720

AU - Shuntaro TAKEKUMA

AU - Shun-ichi AZUMA

AU - Ryo ARIIZUMI

AU - Toru ASAI

PY - 2023

DO - 10.1587/transfun.2022MAP0005

JO - IEICE TRANSACTIONS on Fundamentals

SN - 1745-1337

VL - E106-A

IS - 5

JA - IEICE TRANSACTIONS on Fundamentals

Y1 - May 2023

AB - A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the *hopping* motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.

ER -