NDLI: Neural-based underwater spherical object localization through electrolocation

Content Provider	IEEE Xplore Digital Library
Author	Morel, Y. Lebastard, V. Boyer, F.
Copyright Year	2015
Description	Author affiliation: IRCCyN Lab., Mines de Nantes, France (Lebastard, V.; Boyer, F.) \|\| Commissariat a l'Energie Atomique et aux Energies Renouvelables (CEA Tech Pays de la Loire), Bouguenais, France (Morel, Y.)
Abstract	Navigation of cluttered underwater environments remains to this day a challenging task in mobile robotics. Applying an electric field to a mobile robot's direct environment and measuring perturbations of this field, one is able to detect the presence of foreign objects in close proximity of the system. In addition, one is also able to infer a range of information relative to the detected objects, such as their position or electrical characteristics. Extracting such information from available measures typically requires a model (analytical, numerical or heuristic) descriptive of the relationship from geometry of the scene to measures performed (typically referred to as forward model), or of the inverse relationship (inverse model). In the following, we directly extract one such model from experimental data, and capture a forward model using a neural formalism. Then, using an iterative procedure, we are able to estimate the position of a detected object and assess the degree of confidence one can place on this estimate. Merit of the approach is illustrated using experimental data for a spherical object.
Starting Page	23
Ending Page	28
File Size	827296
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7138975
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Probes Position measurement Current measurement Robot sensing systems Electrodes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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