scholarly journals Trajectory Optimization for Self-Calibration and Navigation

2017 ◽  
Author(s):  
James Preiss ◽  
Karol Hausman ◽  
Gaurav Sukhatme ◽  
Stephan Weiss
Keyword(s):  
Trajectory Optimization ◽  
Self Calibration

scholarly journals Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs

2017 ◽  
Vol 2 (3) ◽  
pp. 1770-1777 ◽  
Author(s):  
Karol Hausman ◽  
James Preiss ◽  
Gaurav S. Sukhatme ◽  
Stephan Weiss
Keyword(s):  
Trajectory Optimization ◽  
Self Calibration

Simultaneous self-calibration and navigation using trajectory optimization

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1573-1594 ◽  
Author(s):  
James A Preiss ◽  
Karol Hausman ◽  
Gaurav S Sukhatme ◽  
Stephan Weiss
Keyword(s):  
Trajectory Optimization ◽  
Optimization Problems ◽  
Navigation Systems ◽  
State Estimator ◽  
Inertial Navigation Systems ◽  
Online Calibration ◽  
Optimization Framework ◽  
Self Calibration ◽  
Real Robot

We describe a trajectory optimization framework that maximizes observability of one or more user-chosen states in a nonlinear system. Our framework is based on a novel metric for quality of observability that is state-estimator agnostic and offers improved numerical stability over prior methods in some cases where the states of interest do not appear directly in the observation. We apply this metric to trajectory optimization problems for closed-loop self-calibration, maintaining observability while navigating through an environment, and rapidly modifying an already-planned trajectory for online recalibration. We include a statistical procedure to balance observability of several states with heterogeneous units and magnitudes. As an example, we apply our framework to online calibration of GPS–IMU and visual–inertial navigation systems on a quadrotor helicopter. Extensive simulations and a real-robot experiment demonstrate the effectiveness of our framework, showing better convergence of the states and the resulting higher precision in navigation.

443: Can Self-Calibration Prevent Urethral Stricture Recurrence Following Direct Visual Internal Urethrotomy?

2005 ◽  
Vol 173 (4S) ◽  
pp. 121-121
Author(s):  
Hari Siva Gurunadha Rao Tunuguntla ◽  
P.V.L.N. Murthy ◽  
K. Sasidharan
Keyword(s):  
Urethral Stricture ◽  
Internal Urethrotomy ◽  
Self Calibration ◽  
Stricture Recurrence
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