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r
ec
o
g
n
ized
as
an
ef
f
ec
tiv
e
way
to
im
p
r
o
v
e
lo
ca
lizatio
n
r
eliab
ilit
y
b
y
co
m
b
in
in
g
c
o
m
p
lem
en
tar
y
m
ea
s
u
r
em
en
ts
f
r
o
m
d
if
f
er
en
t
s
en
s
in
g
m
o
d
alities
[
8
]
.
R
elate
d
s
tu
d
ies
h
av
e
s
h
o
wn
th
at
s
en
s
o
r
f
u
s
io
n
ca
n
s
u
p
p
o
r
t
m
ap
co
n
s
tr
u
ctio
n
,
s
tate
esti
m
atio
n
,
an
d
p
ath
p
lan
n
in
g
in
m
o
b
ile
r
o
b
o
ts
[
9
]
,
[
1
0
]
,
wh
ile
o
th
e
r
wo
r
k
s
h
av
e
h
ig
h
lig
h
te
d
th
e
lim
itatio
n
s
o
f
s
y
s
tem
s
th
at
r
ely
o
n
ly
o
n
o
b
s
tacle
av
o
i
d
an
ce
o
r
o
n
co
m
p
u
tatio
n
ally
in
te
n
s
iv
e
s
en
s
in
g
co
n
f
i
g
u
r
atio
n
s
[
1
1
]
–
[
1
4
]
.
T
ak
e
n
to
g
eth
e
r
,
th
ese
f
in
d
in
g
s
s
u
g
g
est
th
at
lo
w
-
co
s
t
s
en
s
o
r
f
u
s
io
n
r
em
ain
s
a
p
r
o
m
is
in
g
d
ir
ec
tio
n
,
esp
ec
ially
f
o
r
war
eh
o
u
s
e
r
o
b
o
ts
th
at
m
u
s
t n
av
ig
ate
s
tr
u
c
tu
r
ed
y
et
d
y
n
am
ic
i
n
d
o
o
r
s
p
ac
es.
B
ased
o
n
th
is
m
o
tiv
atio
n
,
th
is
s
tu
d
y
d
e
v
elo
p
s
an
in
d
o
o
r
A
MR
n
av
ig
atio
n
s
y
s
tem
b
y
in
t
eg
r
atin
g
2
D
L
iDAR
,
an
in
er
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
)
,
an
d
wh
ee
l
en
c
o
d
er
d
ata
with
i
n
th
e
R
OS2
Nav
2
f
r
a
m
ewo
r
k
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
u
s
es
an
ex
te
n
d
ed
Kalm
a
n
f
ilter
(
E
KF)
to
c
o
m
b
in
e
th
e
c
o
m
p
lem
en
ta
r
y
s
t
r
en
g
th
s
o
f
th
e
th
r
ee
s
en
s
o
r
s
,
wh
er
e
L
iDAR
p
r
o
v
i
d
es
en
v
ir
o
n
m
en
tal
p
er
ce
p
tio
n
,
th
e
I
MU
co
n
tr
ib
u
tes
o
r
ie
n
tatio
n
an
d
m
o
tio
n
in
f
o
r
m
atio
n
,
a
n
d
t
h
e
en
c
o
d
er
s
p
r
o
v
id
e
s
h
o
r
t
-
ter
m
d
is
p
lace
m
en
t
f
ee
d
b
ac
k
.
T
h
is
in
te
g
r
at
io
n
is
in
ten
d
ed
to
r
ed
u
ce
o
d
o
m
etr
ic
d
r
if
t,
im
p
r
o
v
e
lo
ca
lizatio
n
co
n
s
is
ten
cy
,
a
n
d
m
ai
n
tain
s
tab
le
n
av
ig
atio
n
p
er
f
o
r
m
an
c
e
wh
e
n
th
e
r
o
b
o
t
en
co
u
n
ter
s
co
r
r
id
o
r
-
s
ca
le
m
o
tio
n
,
r
e
p
etitiv
e
en
v
ir
o
n
m
e
n
tal
s
tr
u
ctu
r
es,
an
d
ch
an
g
in
g
o
b
s
tacle
co
n
d
itio
n
s
.
T
h
e
co
n
tr
ib
u
tio
n
o
f
th
is
wo
r
k
lies
in
th
e
im
p
lem
en
tatio
n
o
f
lo
w
-
co
s
t
an
d
co
m
p
u
tatio
n
all
y
ef
f
icien
t
s
en
s
o
r
-
f
u
s
io
n
ar
c
h
itectu
r
e
f
o
r
in
d
o
o
r
AM
R
n
av
ig
atio
n
in
war
eh
o
u
s
e
-
lik
e
en
v
ir
o
n
m
en
t
s
.
First,
th
is
s
tu
d
y
d
ev
elo
p
s
a
m
u
lti
-
s
en
s
o
r
lo
ca
lizatio
n
f
r
a
m
ewo
r
k
u
s
in
g
2
D
L
iDAR
,
I
MU
,
an
d
wh
ee
l
en
c
o
d
er
d
ata
t
o
im
p
r
o
v
e
p
o
s
e
esti
m
atio
n
r
elia
b
ilit
y
.
S
ec
o
n
d
,
th
e
f
r
am
ewo
r
k
is
in
te
g
r
ated
with
R
OS2
Nav
2
to
s
u
p
p
o
r
t
g
l
o
b
al
p
ath
p
lan
n
in
g
,
lo
ca
l
o
b
s
tacle
av
o
i
d
an
ce
,
an
d
r
ea
l
-
tim
e
r
ep
lan
n
in
g
.
T
h
ir
d
,
th
e
s
tu
d
y
d
em
o
n
s
tr
ates
th
e
ap
p
licab
ilit
y
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
in
s
tr
u
ctu
r
ed
in
d
o
o
r
n
av
ig
atio
n
task
s
in
v
o
lv
in
g
b
o
th
s
tatic
an
d
d
y
n
am
ic
o
b
s
tacle
s
.
T
h
r
o
u
g
h
th
is
co
m
b
i
n
atio
n
,
th
e
wo
r
k
aim
s
to
p
r
o
v
id
e
a
p
r
ac
tical
n
av
ig
atio
n
s
o
lu
tio
n
f
o
r
wa
r
eh
o
u
s
e
AM
R
s
th
at
r
eq
u
ir
e
d
ep
en
d
ab
le
o
p
er
atio
n
with
o
u
t r
ely
in
g
o
n
h
ig
h
-
en
d
s
e
n
s
in
g
p
latf
o
r
m
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
ch
ap
ter
d
escr
ib
es
th
e
m
eth
o
d
o
lo
g
y
ad
o
p
ted
t
o
d
ev
el
o
p
an
d
v
alid
ate
th
e
AM
R
s
y
s
tem
.
T
h
e
s
y
s
tem
d
esig
n
an
d
im
p
lem
en
t
atio
n
in
v
o
lv
e
t
h
e
in
te
g
r
atio
n
o
f
m
u
ltip
le
co
m
p
o
n
e
n
ts
,
in
clu
d
in
g
L
iDAR
,
I
MU
,
wh
ee
l
en
co
d
er
s
,
a
n
d
o
n
b
o
ar
d
co
m
p
u
tin
g
u
n
its
.
I
n
ad
d
itio
n
,
th
is
ch
ap
ter
ex
p
lain
s
t
h
e
o
v
er
all
s
y
s
tem
ar
ch
itectu
r
e,
th
e
s
en
s
o
r
f
u
s
io
n
ap
p
r
o
ac
h
,
th
e
p
ath
p
lan
n
in
g
m
eth
o
d
s
,
an
d
th
e
ex
p
er
im
e
n
tal
s
etu
p
u
s
ed
to
ass
es
s
th
e
AM
R
’
s
p
er
f
o
r
m
an
c
e.
2
.
1
.
M
a
t
hem
a
t
ica
l
m
o
dellin
g
a
nd
s
t
a
t
e
estim
a
t
io
n
Fo
r
lo
ca
lizatio
n
an
al
y
s
is
,
th
e
r
o
b
o
t
is
tr
ea
ted
as
a
m
o
b
ile
p
latf
o
r
m
o
p
er
atin
g
o
n
a
two
-
d
i
m
en
s
io
n
al
p
lan
e,
with
its
p
o
s
e
d
ef
i
n
ed
b
y
th
e
s
tate
v
ec
to
r
x
=
[
,
,
]
⊤
.
Her
e,
an
d
d
en
o
te
th
e
r
o
b
o
t
p
o
s
itio
n
in
th
e
g
lo
b
al
m
ap
f
r
am
e,
an
d
is
th
e
h
ea
d
in
g
an
g
le
at
d
is
cr
ete
tim
e
s
tep
.
T
h
is
r
ep
r
esen
tatio
n
is
co
n
s
is
ten
t
with
th
e
p
o
s
e
v
ar
iab
les
r
eq
u
ir
ed
f
o
r
m
ap
-
b
ased
n
av
i
g
atio
n
,
g
lo
b
al
p
lan
n
i
n
g
,
an
d
clo
s
ed
-
l
o
o
p
p
ath
e
x
ec
u
tio
n
[
1
5
]
.
T
h
e
r
o
b
o
t
m
o
tio
n
is
f
o
r
m
u
lated
u
s
in
g
a
d
if
f
er
e
n
tial
-
d
r
iv
e
k
in
em
atic
m
o
d
el.
W
h
en
e
x
p
r
ess
ed
in
ter
m
s
o
f
body
-
f
r
am
e
lin
ea
r
an
d
an
g
u
lar
v
elo
cities
u
=
[
,
]
⊤
,
th
e
d
is
cr
ete
-
tim
e
p
r
o
p
ag
atio
n
ca
n
b
e
wr
itten
as
(
1
).
x
+
1
=
[
+
Δ
c
os
(
)
+
Δ
s
in
(
)
+
Δ
]
+
w
(
1
)
wh
er
e
Δ
is
th
e
s
am
p
lin
g
p
er
io
d
an
d
w
is
p
r
o
ce
s
s
n
o
is
e
ca
p
tu
r
in
g
wh
ee
l
s
lip
an
d
m
o
d
ellin
g
u
n
ce
r
tain
ty
.
Alter
n
ativ
ely
,
wh
en
u
s
in
g
wh
ee
l
en
co
d
er
i
n
cr
em
en
ts
d
ir
ec
tl
y
,
th
e
in
cr
e
m
en
tal
m
o
tio
n
ca
n
b
e
f
o
r
m
u
lated
b
y
Δ
=
(
Δ
+
Δ
)
/
2
an
d
Δ
=
(
Δ
−
Δ
)
/
,
wh
er
e
Δ
an
d
Δ
ar
e
th
e
r
ig
h
t
an
d
lef
t
wh
ee
l
tr
av
e
l
d
is
tan
ce
s
,
r
esp
ec
tiv
ely
,
an
d
is
th
e
wh
ee
lb
ase
[
1
6
]
.
T
h
e
p
o
s
e
u
p
d
ate
is
th
en
e
x
p
r
ess
ed
f
r
o
m
(
2
),
+
1
=
+
Δ
c
os
(
+
Δ
2
)
,
+
1
=
+
Δ
s
in
(
+
Δ
2
)
,
+
1
=
+
Δ
(
2
)
wh
ich
p
r
o
v
id
es a
p
r
ac
tical
f
o
r
m
u
latio
n
f
o
r
o
d
o
m
etr
y
-
d
r
iv
e
n
s
tate
p
r
o
p
ag
atio
n
d
u
r
i
n
g
n
a
v
ig
atio
n
.
T
o
r
elate
th
e
r
o
b
o
t
s
tate
to
s
en
s
o
r
o
b
s
er
v
atio
n
s
,
a
m
ea
s
u
r
e
m
en
t
m
o
d
el
is
d
ef
in
ed
to
d
es
cr
ib
e
h
o
w
p
er
ce
iv
ed
f
ea
tu
r
es
co
n
s
tr
ain
t
h
e
p
o
s
e
esti
m
ate.
Fo
r
ex
am
p
le,
g
iv
en
a
lan
d
m
ar
k
o
r
m
ap
f
ea
t
u
r
e
lo
ca
ted
at
p
ℓ
=
[
ℓ
,
ℓ
]
⊤
,
a
co
m
m
o
n
r
a
n
g
e
b
ea
r
in
g
o
b
s
er
v
atio
n
m
o
d
el
is
s
h
o
wn
b
y
(
3
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
LiDAR
-
b
a
s
ed
s
en
s
o
r
fu
s
io
n
a
n
d
n
a
vig
a
tio
n
fo
r
in
d
o
o
r
a
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
ts
… (
R
ifd
a
Ha
kima
S
a
r
i
)
297
z
=
[
]
=
[
√
(
ℓ
−
)
2
+
(
ℓ
−
)
2
a
ta
n
2
(
ℓ
−
,
ℓ
−
)
−
]
+
v
(
3
)
wh
er
e
v
is
ze
r
o
-
m
ea
n
m
ea
s
u
r
em
en
t
n
o
is
e.
I
n
p
r
ac
tice,
L
i
DAR
m
ea
s
u
r
em
en
ts
p
r
o
v
id
e
d
en
s
e
g
eo
m
etr
ic
co
n
s
tr
ain
ts
ag
ain
s
t
th
e
o
cc
u
p
an
cy
m
ap
,
an
d
th
e
s
am
e
p
r
in
cip
le
ap
p
lies
:
th
e
p
o
s
e
esti
m
ate
is
u
p
d
ated
b
y
m
ax
im
izin
g
th
e
co
n
s
is
ten
cy
b
etwe
en
th
e
p
r
ed
icted
o
b
s
er
v
at
io
n
(
f
r
o
m
th
e
m
a
p
an
d
p
o
s
e)
an
d
th
e
ac
tu
al
s
ca
n
,
wh
ich
is
ess
en
tial f
o
r
r
o
b
u
s
t in
d
o
o
r
l
o
ca
lizatio
n
[
1
7
]
.
T
o
g
eth
er
,
t
h
e
m
o
tio
n
an
d
m
e
asu
r
em
en
t
m
o
d
els
estab
lis
h
th
e
b
asis
f
o
r
p
r
o
b
ab
ilis
tic
p
o
s
e
esti
m
atio
n
d
u
r
in
g
au
to
n
o
m
o
u
s
n
a
v
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.
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h
e
m
o
ti
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ile
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o
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er
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o
d
el
co
n
s
tr
ain
s
th
e
p
o
s
e
u
s
in
g
L
iDAR
–
m
ap
co
n
s
is
ten
cy
;
to
g
eth
er
t
h
ey
s
u
p
p
o
r
t
s
tab
le
esti
m
atio
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o
f
(
,
,
)
af
ter
m
ap
p
in
g
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s
co
m
p
leted
a
n
d
th
e
r
o
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o
t n
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ig
ates
u
s
in
g
th
e
s
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e
d
2
D
o
cc
u
p
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cy
g
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id
m
ap
.
As
a
r
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lt,
th
e
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o
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ea
m
m
o
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les
s
u
ch
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ath
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ath
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ate
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at
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r
eliab
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d
esp
ite
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r
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r
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ch
as
wh
ee
l sli
p
o
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tr
an
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ien
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o
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n
o
is
e
[
1
8
]
.
2
.
2
.
H
a
rdwa
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a
rc
hite
ct
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T
h
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p
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p
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AM
R
em
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if
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m
f
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o
u
s
e
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tics
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h
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r
d
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tem
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t
r
ea
l
-
tim
e
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ca
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d
n
a
v
ig
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Fig
u
r
e
1
p
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o
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u
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ter
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ac
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am
o
n
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th
e
s
en
s
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,
co
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p
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u
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it,
an
d
p
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ip
h
er
al
d
ev
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wh
ile
also
tr
an
s
m
itti
n
g
m
o
tio
n
co
m
m
an
d
s
to
th
e
m
o
t
o
r
d
r
iv
e
r
s
.
L
iDAR
m
ea
s
u
r
em
en
ts
ar
e
u
s
ed
f
o
r
m
a
p
p
in
g
an
d
lo
ca
lizati
o
n
with
in
th
e
SLAM
p
r
o
ce
s
s
[
1
9
]
.
T
h
e
I
MU
p
r
o
v
i
d
es
o
r
ien
tatio
n
an
d
an
g
u
lar
m
o
tio
n
in
f
o
r
m
atio
n
to
im
p
r
o
v
e
p
o
s
e
esti
m
atio
n
,
w
h
ile
wh
ee
l
en
co
d
er
s
s
u
p
p
ly
r
o
tatio
n
al
f
ee
d
b
ac
k
f
o
r
esti
m
atin
g
lin
ea
r
d
is
p
lace
m
en
t
an
d
s
u
p
p
o
r
tin
g
l
o
ca
lizatio
n
an
d
p
ath
-
p
lan
n
in
g
f
u
n
ctio
n
s
[
2
0
]
.
2
.
3
.
Sens
o
r
f
us
io
n a
n
d lo
ca
liza
t
io
n
T
h
e
AM
R
lo
ca
lizatio
n
p
r
o
ce
s
s
is
b
ased
o
n
th
e
co
m
b
i
n
ed
u
s
e
o
f
L
iDAR
,
I
MU
,
a
n
d
wh
e
el
en
co
d
e
r
m
ea
s
u
r
em
en
ts
to
o
b
tain
a
m
o
r
e
r
eliab
le
esti
m
ate
o
f
th
e
r
o
b
o
t
p
o
s
e.
I
n
th
e
p
r
o
p
o
s
ed
s
y
s
tem
,
th
ese
s
en
s
o
r
s
tr
ea
m
s
ar
e
p
r
o
ce
s
s
ed
with
in
t
h
e
SLAM
m
o
d
u
le,
wh
ich
is
r
e
s
p
o
n
s
ib
le
f
o
r
b
o
th
m
ap
g
en
er
a
tio
n
an
d
o
d
o
m
etr
y
esti
m
atio
n
,
as
illu
s
tr
ated
in
Fig
u
r
e
2
.
L
iDAR
d
ata
p
r
o
v
id
e
a
3
6
0
-
d
eg
r
ee
r
ep
r
esen
tatio
n
o
f
th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
en
t
an
d
s
er
v
e
as
th
e
m
ain
in
p
u
t
f
o
r
m
a
p
p
in
g
a
n
d
o
b
ject
d
etec
tio
n
[
2
1
]
.
T
h
is
in
f
o
r
m
atio
n
is
u
s
ed
b
y
th
e
SLAM
m
o
d
u
le
to
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n
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tr
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ct
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en
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n
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esti
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ate
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e
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o
t
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s
itio
n
with
in
th
at
m
ap
.
Nev
er
th
eless
,
L
iDAR
m
ea
s
u
r
em
en
ts
m
ay
b
e
af
f
ec
te
d
b
y
s
e
n
s
o
r
n
o
is
e
an
d
e
n
v
ir
o
n
m
en
tal
d
is
tu
r
b
an
ce
s
[
2
2
]
,
[
2
3
]
.
T
o
im
p
r
o
v
e
p
o
s
e
co
n
s
is
ten
cy
,
th
e
I
MU
c
o
n
tr
ib
u
tes
o
r
ien
tatio
n
in
f
o
r
m
atio
n
,
in
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d
in
g
p
itch
,
r
o
ll,
an
d
y
aw,
wh
ich
is
p
ar
ticu
lar
ly
u
s
ef
u
l
d
u
r
in
g
r
o
b
o
t
m
o
tio
n
an
d
tu
r
n
in
g
m
a
n
eu
v
e
r
s
[
2
4
]
.
I
n
p
ar
allel,
th
e
w
h
ee
l
en
co
d
er
s
p
r
o
v
id
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d
is
p
lace
m
en
t
-
r
elate
d
o
d
o
m
etr
y
d
ata
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ased
o
n
wh
ee
l r
o
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alo
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th
e
tr
a
v
eled
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ath
.
T
o
r
ed
u
ce
t
h
e
ef
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ec
t
o
f
u
n
ce
r
tain
ty
f
r
o
m
ea
ch
s
en
s
in
g
m
o
d
ality
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
ap
p
lies
a
s
en
s
o
r
-
f
u
s
io
n
ap
p
r
o
ac
h
to
co
m
b
in
e
L
iDAR
,
I
MU
,
an
d
en
c
o
d
er
d
ata
[
2
5
]
.
T
h
is
f
u
s
io
n
p
r
o
ce
s
s
is
im
p
lem
en
ted
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s
in
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an
E
x
ten
d
ed
Kalm
an
Fil
ter
(
E
KF)
,
wh
ich
esti
m
ates
th
e
r
o
b
o
t
s
tate
f
r
o
m
t
h
e
co
m
p
lem
en
tar
y
in
f
o
r
m
atio
n
p
r
o
v
i
d
ed
b
y
th
e
t
h
r
ee
s
en
s
o
r
s
.
As
s
h
o
wn
i
n
Fi
g
u
r
e
2
,
th
e
f
u
s
ed
m
ea
s
u
r
em
e
n
ts
ar
e
u
s
ed
b
y
th
e
SLAM
T
o
o
lb
o
x
to
im
p
r
o
v
e
r
e
al
-
tim
e
lo
ca
lizatio
n
an
d
s
u
p
p
o
r
t
co
n
s
is
ten
t
m
ap
co
n
s
tr
u
ctio
n
d
u
r
in
g
o
p
e
r
atio
n
.
T
h
r
o
u
g
h
t
h
is
d
ata
f
lo
w,
th
e
AM
R
is
ab
le
to
u
p
d
ate
its
p
o
s
e
an
d
m
a
p
co
n
tin
u
o
u
s
ly
,
all
o
win
g
th
e
s
y
s
tem
to
m
ain
tain
r
eliab
le
n
a
v
ig
atio
n
p
er
f
o
r
m
a
n
ce
u
n
d
er
d
y
n
am
ic
i
n
d
o
o
r
c
o
n
d
itio
n
s
.
Fig
u
r
e
2
.
Sen
s
o
r
f
u
s
io
n
a
n
d
lo
ca
lizatio
n
: in
teg
r
atio
n
o
f
L
iD
AR
,
I
MU
,
an
d
en
co
d
er
2
.
4
.
Na
v
ig
a
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rc
hite
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Fig
u
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3
s
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m
m
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izes
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atin
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o
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o
s
ed
AM
R
n
av
ig
atio
n
s
y
s
tem
d
u
r
in
g
au
to
n
o
m
o
u
s
o
p
er
atio
n
.
Fo
llo
win
g
s
y
s
tem
in
itializatio
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,
th
e
r
o
b
o
t
en
ter
s
th
e
m
ap
p
in
g
s
tag
e
to
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ate
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p
atial
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ep
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esen
tatio
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o
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e
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ir
o
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en
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T
h
e
r
esu
ltin
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m
a
p
is
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en
ch
ec
k
e
d
f
o
r
n
av
i
g
atio
n
s
u
itab
ilit
y
,
an
d
th
e
r
o
b
o
t c
o
n
tin
u
es e
x
p
lo
r
atio
n
u
n
til a
v
alid
2
D
o
cc
u
p
an
c
y
g
r
id
m
ap
is
o
b
tain
ed
an
d
s
to
r
ed
.
T
h
e
lo
wer
p
a
r
t
o
f
th
e
f
lo
wc
h
ar
t
r
ep
r
esen
ts
th
e
n
av
ig
atio
n
l
o
o
p
d
u
r
in
g
p
ath
f
o
llo
win
g
,
w
h
er
e
lo
ca
l
p
lan
n
in
g
a
n
d
o
b
s
tacle
m
o
n
ito
r
in
g
ar
e
p
er
f
o
r
m
ed
c
o
n
tin
u
o
u
s
ly
.
W
h
en
an
o
b
s
tacle
is
d
etec
ted
,
th
e
s
y
s
tem
ac
tiv
ates
lo
ca
l
r
ep
lan
n
in
g
o
r
r
ec
o
v
er
y
b
e
h
av
io
r
to
m
ain
t
ain
s
af
e
m
o
tio
n
.
Oth
er
wis
e,
th
e
r
o
b
o
t
co
n
tin
u
es
f
o
llo
win
g
th
e
p
lan
n
e
d
r
o
u
te
u
n
til th
e
tar
g
et
is
r
ea
ch
ed
an
d
t
h
e
n
av
ig
atio
n
task
is
co
m
p
lete
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
LiDAR
-
b
a
s
ed
s
en
s
o
r
fu
s
io
n
a
n
d
n
a
vig
a
tio
n
fo
r
in
d
o
o
r
a
u
to
n
o
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u
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ile
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o
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o
ts
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R
ifd
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Ha
kima
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a
r
i
)
299
Fig
u
r
e
3
.
Op
e
r
atio
n
al
f
lo
wc
h
a
r
t o
f
th
e
a
u
to
n
o
m
o
u
s
n
a
v
ig
atio
n
Sy
s
tem
Fig
u
r
e
4
p
r
esen
ts
th
e
n
av
ig
atio
n
co
n
tr
o
l
ar
c
h
itectu
r
e
o
f
th
e
p
r
o
p
o
s
ed
AM
R
s
y
s
te
m
.
Sen
s
o
r
o
b
s
er
v
atio
n
s
a
n
d
s
tate
esti
m
ates
ar
e
tr
an
s
f
o
r
m
ed
i
n
to
m
o
tio
n
co
m
m
an
d
s
t
h
r
o
u
g
h
an
in
teg
r
ated
p
ip
elin
e
co
n
s
is
tin
g
o
f
lo
ca
lizatio
n
,
g
lo
b
al
p
lan
n
in
g
,
lo
ca
l
p
lan
n
in
g
,
an
d
lo
w
-
lev
el
ac
tu
atio
n
.
A
tar
g
et
p
o
s
e
is
u
s
ed
as
th
e
n
av
ig
atio
n
g
o
al,
a
n
d
t
h
e
s
y
s
tem
co
n
tin
u
o
u
s
ly
u
p
d
ates
it
s
p
lan
n
in
g
an
d
co
n
tr
o
l
ac
tio
n
s
b
ased
o
n
r
ea
l
-
tim
e
s
en
s
o
r
f
ee
d
b
ac
k
an
d
o
d
o
m
etr
y
d
ata.
Fig
u
r
e
4
.
Sy
s
tem
-
lev
el
n
av
ig
at
io
n
co
n
tr
o
l d
i
ag
r
am
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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No
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2
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:
295
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3
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6
300
Af
ter
th
e
m
ap
p
in
g
p
h
ase
p
r
o
d
u
ce
s
an
o
cc
u
p
an
cy
g
r
id
m
ap
,
th
e
AM
R
en
ter
s
lo
ca
lizatio
n
-
n
av
ig
atio
n
m
o
d
e
u
s
in
g
th
e
s
to
r
ed
m
ap
a
s
a
f
ix
ed
g
lo
b
al
r
ef
er
e
n
ce
.
T
h
e
r
o
b
o
t
p
o
s
e
(
)
is
esti
m
ated
th
r
o
u
g
h
a
d
ap
tiv
e
Mo
n
te
C
ar
lo
lo
ca
lizatio
n
(
AM
C
L
)
,
wh
ich
u
p
d
ates
m
u
ltip
le
p
o
s
e
h
y
p
o
th
eses
b
y
m
atch
in
g
L
iDAR
o
b
s
er
v
atio
n
s
to
th
e
m
ap
[
2
6
]
.
W
h
ee
l
-
en
co
d
er
o
d
o
m
etr
y
p
r
o
p
a
g
ates
m
o
tio
n
b
etwe
en
u
p
d
ates,
wh
ile
th
e
tr
an
s
f
o
r
m
ch
ai
n
m
ain
tain
s
c
o
n
s
is
ten
cy
am
o
n
g
th
e
r
o
b
o
t,
o
d
o
m
etr
y
,
an
d
m
ap
f
r
am
es.
T
h
is
p
r
o
b
a
b
ilis
tic
lo
ca
lizatio
n
p
r
o
ce
s
s
r
ed
u
ce
s
o
d
o
m
etr
y
d
r
if
t a
n
d
p
r
o
v
id
es a
s
tab
le
p
o
s
e
esti
m
ate
f
o
r
p
la
n
n
in
g
[
2
7
]
.
Usi
n
g
th
e
esti
m
ated
p
o
s
e
an
d
g
lo
b
al
m
ap
,
th
e
s
y
s
tem
co
m
p
u
tes
a
f
ea
s
ib
le
r
o
u
te
to
t
h
e
n
av
ig
atio
n
g
o
al.
T
h
e
g
lo
b
al
p
lan
n
er
a
p
p
li
es
th
e
A*
alg
o
r
ith
m
t
o
th
e
s
tatic
o
cc
u
p
an
c
y
g
r
id
to
g
e
n
er
ate
a
p
ath
th
at
av
o
id
s
non
-
tr
a
v
er
s
ab
le
r
e
g
io
n
s
an
d
s
atis
f
ies
co
r
r
id
o
r
c
o
n
s
tr
ain
ts
.
D
u
r
in
g
e
x
ec
u
tio
n
,
a
l
o
ca
l
co
s
tm
ap
is
u
p
d
ate
d
f
r
o
m
r
ea
l
-
tim
e
s
en
s
o
r
d
ata
to
r
ep
r
e
s
en
t
n
ea
r
b
y
o
b
s
tacle
s
an
d
s
af
ety
m
ar
g
i
n
s
.
T
h
e
lo
ca
l
p
lan
n
e
r
f
o
llo
ws
t
h
e
g
l
o
b
al
p
ath
wh
ile
g
en
e
r
atin
g
v
el
o
city
co
m
m
a
n
d
s
th
at
s
atis
f
y
th
e
r
o
b
o
t
’
s
k
in
em
atic
c
o
n
s
tr
ain
ts
an
d
av
o
i
d
co
llis
io
n
s
.
W
h
en
u
n
ex
p
ec
ted
o
b
s
tacle
s
o
r
b
lo
ck
ed
p
ass
ag
es
ar
e
en
co
u
n
ter
ed
,
r
ec
o
v
e
r
y
b
e
h
av
io
r
s
ar
e
ac
tiv
ated
to
r
esto
r
e
a
f
ea
s
ib
le
n
av
ig
atio
n
s
tate
an
d
en
ab
le
r
e
p
lan
n
in
g
wh
e
n
n
ec
e
s
s
ar
y
[
2
8
]
,
[
2
9
]
.
T
h
e
r
esu
ltin
g
co
m
m
an
d
s
a
r
e
s
en
t
to
th
e
b
ase
co
n
tr
o
ller
,
wh
ich
co
n
v
er
ts
th
em
in
to
ac
tu
ato
r
-
lev
el
s
ig
n
als
f
o
r
th
e
d
r
iv
e
s
y
s
tem
an
d
m
ain
tain
s
co
n
tin
u
o
u
s
clo
s
ed
-
lo
o
p
n
av
i
g
a
tio
n
.
2
.
5
.
E
x
perim
ent
a
l set
up
T
o
v
alid
ate
th
e
p
r
o
p
o
s
ed
s
y
s
tem
,
ex
p
er
im
en
ts
wer
e
c
o
n
d
u
cted
in
th
e
E
m
b
ed
d
e
d
Sy
s
tem
s
an
d
R
o
b
o
tics
L
ab
o
r
ato
r
y
,
Un
iv
e
r
s
itas
Gad
jah
Ma
d
a,
wh
ich
wa
s
co
n
f
ig
u
r
ed
to
m
im
ic
a
war
eh
o
u
s
e
lay
o
u
t.
T
h
e
en
v
ir
o
n
m
en
t
f
ea
tu
r
ed
s
ev
er
al
n
ar
r
o
w
co
r
r
i
d
o
r
s
a
n
d
o
p
e
n
ar
ea
s
.
T
y
p
ical
la
b
o
r
ato
r
y
e
q
u
ip
m
en
t,
s
u
ch
as
d
esk
s
an
d
s
to
r
ag
e
r
ac
k
s
,
wer
e
u
tili
ze
d
as o
b
s
tacle
s
to
s
im
u
late
th
e
co
n
s
tr
ain
ed
s
p
ac
es f
o
u
n
d
i
n
in
d
u
s
tr
ial
s
ettin
g
s
.
T
h
e
n
av
ig
atio
n
p
e
r
f
o
r
m
an
ce
was e
v
alu
ated
u
n
d
e
r
two
p
r
im
ar
y
test
in
g
s
ce
n
ar
io
s
.
−
Static
Ob
s
tacle
Av
o
id
an
ce
:
Fi
x
ed
o
b
jects,
in
clu
d
in
g
ch
ai
r
s
an
d
v
er
tical
b
o
ar
d
s
,
wer
e
p
lace
d
d
ir
ec
tly
alo
n
g
th
e
p
lan
n
e
d
p
ath
t
o
ev
alu
ate
th
e
lo
ca
l p
lan
n
er
’
s
ab
ilit
y
to
g
e
n
er
ate
alter
n
ativ
e
tr
ajec
to
r
ies.
−
Dy
n
am
ic
Ob
s
tacle
I
n
ter
ac
tio
n
:
T
o
test
th
e
s
y
s
tem
’
s
r
esp
o
n
s
iv
en
ess
to
u
n
p
r
e
d
ictab
le
ch
an
g
es,
a
p
er
s
o
n
cr
o
s
s
ed
th
e
r
o
b
o
t
’
s
p
ath
at
a
s
tan
d
ar
d
walk
in
g
s
p
ee
d
,
r
eq
u
ir
in
g
th
e
d
y
n
am
ic
o
b
s
tacle
lay
er
in
th
e
co
s
tm
a
p
to
tr
ig
g
er
o
n
lin
e
r
e
p
lan
n
in
g
.
Fo
r
q
u
a
n
titativ
e
lo
ca
lizatio
n
a
n
aly
s
is
,
g
r
o
u
n
d
t
r
u
th
m
ea
s
u
r
e
m
en
ts
wer
e
o
b
tain
ed
b
y
co
m
p
ar
in
g
th
e
r
o
b
o
t
’
s
esti
m
ated
p
o
s
e
ag
ain
s
t
r
ef
er
en
ce
p
o
s
itio
n
s
m
an
u
ally
m
ea
s
u
r
ed
at
p
r
ed
ef
in
e
d
way
p
o
in
ts
alo
n
g
th
e
test
r
o
u
te.
T
h
ese
way
p
o
in
ts
p
r
o
v
i
d
ed
th
e
n
ec
ess
ar
y
d
ata
to
ca
l
cu
late
th
e
R
o
o
t
Me
an
Sq
u
ar
e
E
r
r
o
r
(
R
MSE
)
f
o
r
b
o
th
p
la
n
ar
p
o
s
itio
n
an
d
o
r
ien
t
atio
n
.
T
h
is
s
tu
d
y
ev
alu
ates
th
e
p
at
h
-
p
lan
n
i
n
g
a
n
d
o
b
s
tacle
-
av
o
i
d
an
ce
p
e
r
f
o
r
m
an
ce
o
f
th
e
A
u
to
n
o
m
o
u
s
Mo
b
ile
R
o
b
o
t
(
AM
R
)
in
a
c
o
n
tr
o
lled
i
n
d
o
o
r
en
v
ir
o
n
m
en
t
.
Prio
r
to
t
h
e
n
a
v
ig
atio
n
e
x
p
er
im
en
ts
,
an
in
itial
m
ap
p
in
g
p
r
o
ce
d
u
r
e
is
co
n
d
u
cted
to
g
en
er
ate
a
s
p
atial
r
ep
r
esen
tatio
n
o
f
t
h
e
s
u
r
r
o
u
n
d
i
n
g
ar
ea
.
Fig
u
r
e
5
p
r
esen
ts
th
e
o
v
er
all
p
ath
-
p
la
n
n
in
g
v
is
u
aliza
tio
n
o
f
th
e
p
r
o
p
o
s
ed
AM
R
s
y
s
tem
.
I
n
p
ar
ticu
lar
,
Fig
u
r
e
5
(
a
)
s
h
o
ws
th
e
o
cc
u
p
an
cy
g
r
id
m
a
p
o
b
tain
ed
d
u
r
in
g
th
e
m
ap
p
in
g
s
tag
e,
wh
ich
r
ep
r
esen
ts
th
e
s
tr
u
ctu
r
al
lay
o
u
t
o
f
co
r
r
id
o
r
s
an
d
o
p
en
s
p
ac
es.
T
h
e
g
en
er
ated
m
ap
is
s
u
b
s
eq
u
e
n
tly
u
s
ed
as
th
e
g
lo
b
al
r
ef
er
en
ce
f
o
r
lo
ca
lizatio
n
an
d
p
ath
p
lan
n
in
g
,
e
n
ab
lin
g
th
e
r
o
b
o
t
to
id
en
tif
y
tr
a
v
er
s
a
b
le
r
eg
io
n
s
wh
ile
a
v
o
id
in
g
n
o
n
-
n
a
v
ig
ab
le
a
r
ea
s
d
u
r
in
g
au
to
n
o
m
o
u
s
o
p
er
atio
n
[
3
0
]
.
B
ased
o
n
th
e
g
en
er
ated
m
a
p
as
a
g
lo
b
al
r
e
f
er
en
ce
,
th
e
AM
R
is
task
ed
with
m
o
v
i
n
g
f
r
o
m
a
p
r
ed
ef
in
e
d
s
tar
t p
o
s
itio
n
to
a
tar
g
et
lo
ca
tio
n
wh
ile
av
o
id
in
g
b
o
th
s
tatic
an
d
d
y
n
am
ic
o
b
s
tacle
s
.
T
h
e
n
av
ig
atio
n
f
r
am
ewo
r
k
co
m
b
in
es
g
lo
b
al
p
ath
p
lan
n
i
n
g
with
l
o
ca
l
o
b
s
ta
cle
av
o
id
an
ce
,
en
a
b
lin
g
th
e
r
o
b
o
t
to
g
en
e
r
ate
an
in
itial
r
o
u
te
an
d
co
n
tin
u
o
u
s
ly
ad
ju
s
t
its
m
o
tio
n
in
r
esp
o
n
s
e
to
ch
an
g
es
i
n
th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
en
t.
T
h
e
test
en
v
ir
o
n
m
en
t
is
p
o
p
u
lated
with
v
ar
io
u
s
o
b
jects
p
lace
d
alo
n
g
th
e
n
av
ig
atio
n
co
r
r
id
o
r
to
em
u
late
ty
p
ical
in
d
o
o
r
o
b
s
tacle
s
,
en
s
u
r
in
g
th
at
th
e
s
y
s
tem
is
ev
alu
ated
u
n
d
er
r
ea
lis
tic
o
p
er
atin
g
co
n
d
itio
n
s
.
Du
r
in
g
th
e
test
,
th
e
AM
R
’
s
d
y
n
am
ic
o
b
s
tacle
av
o
id
an
ce
s
y
s
tem
was
ev
alu
ated
.
T
h
e
r
o
b
o
t
d
etec
ts
o
b
s
tacle
s
in
its
p
ath
an
d
r
ec
alcu
lates
its
tr
ajec
to
r
y
ac
co
r
d
in
g
l
y
,
en
s
u
r
in
g
it
av
o
i
d
s
co
llis
io
n
s
wh
il
e
m
ain
tain
in
g
its
p
ath
to
th
e
g
o
al
[
3
1
]
.
Fig
u
r
e
5
(
b
)
illu
s
tr
ates
th
e
r
o
b
o
t
tr
ajec
to
r
y
d
u
r
i
n
g
n
av
ig
atio
n
,
s
h
o
win
g
h
o
w
th
e
p
lan
n
e
d
r
o
u
te
is
u
p
d
ated
wh
e
n
o
b
s
tacle
s
ar
e
en
co
u
n
ter
e
d
.
T
h
is
b
eh
av
io
r
d
em
o
n
s
tr
ates
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
im
p
lem
en
ted
p
ath
-
p
la
n
n
in
g
an
d
o
b
s
tacle
-
av
o
id
an
ce
m
ec
h
an
is
m
s
.
I
n
th
is
s
tu
d
y
,
th
e
A*
alg
o
r
ith
m
is
em
p
lo
y
ed
to
d
eter
m
in
e
t
h
e
o
p
tim
al
p
ath
f
o
r
th
e
r
o
b
o
t b
y
ev
alu
atin
g
th
e
co
s
t f
u
n
ctio
n
(
)
at
ea
ch
n
o
d
e
,
as d
ef
in
ed
i
n
(
4
)
.
(
)
=
(
)
+
ℎ
(
)
(
4
)
Her
e,
(
)
is
th
e
co
s
t
to
r
ea
ch
th
e
n
o
d
e
f
r
o
m
th
e
s
tar
t,
an
d
ℎ
(
)
is
th
e
esti
m
ated
co
s
t
to
r
ea
ch
th
e
g
o
al
f
r
o
m
th
e
n
o
d
e,
ca
lcu
lated
u
s
in
g
h
e
u
r
is
tics
lik
e
E
u
clid
ea
n
o
r
Ma
n
h
attan
d
is
tan
ce
.
T
h
e
alg
o
r
ith
m
iter
ates
th
r
o
u
g
h
n
o
d
es,
s
elec
tin
g
th
e
o
n
e
with
t
h
e
lo
west
(
)
v
alu
e,
an
d
ad
ju
s
ts
th
e
p
ath
d
y
n
am
ically
as
th
e
r
o
b
o
t
en
co
u
n
ter
s
n
ew
o
b
s
tacle
s
[
3
2
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
LiDAR
-
b
a
s
ed
s
en
s
o
r
fu
s
io
n
a
n
d
n
a
vig
a
tio
n
fo
r
in
d
o
o
r
a
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
ts
… (
R
ifd
a
Ha
kima
S
a
r
i
)
301
(
a)
(
b
)
Fig
u
r
e
5
.
Path
p
lan
n
in
g
v
is
u
al
izatio
n
: (
a)
2
D
o
cc
u
p
a
n
cy
g
r
id
m
ap
in
in
d
o
o
r
en
v
i
r
o
n
m
e
n
t a
n
d
(
b
)
r
o
b
o
t
tr
ajec
to
r
y
f
o
r
d
y
n
am
ic
o
b
s
tacle
av
o
id
an
ce
T
h
r
o
u
g
h
th
ese
test
s
,
th
e
s
y
s
t
em
d
em
o
n
s
tr
ated
a
h
ig
h
s
u
c
ce
s
s
r
ate
in
f
o
llo
win
g
th
e
p
lan
n
ed
p
ath
wh
ile
av
o
id
in
g
o
b
s
tacle
s
.
T
h
e
p
ath
p
lan
n
in
g
was
r
o
b
u
s
t,
ev
e
n
wh
en
th
e
r
o
b
o
t
e
n
co
u
n
ter
ed
n
ew
o
r
u
n
ex
p
ec
ted
o
b
s
tacle
s
,
an
d
it m
ain
tain
ed
a
n
ef
f
icien
t r
o
u
te
to
its
g
o
al.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
ch
ap
ter
r
ep
o
r
ts
th
e
ex
p
er
im
en
tal
f
in
d
i
n
g
s
o
b
tain
ed
f
r
o
m
th
e
ev
al
u
atio
n
o
f
t
h
e
p
r
o
p
o
s
ed
Au
to
n
o
m
o
u
s
Mo
b
ile
R
o
b
o
t
(
AM
R
)
s
y
s
tem
,
with
em
p
h
asis
o
n
its
lo
ca
lizatio
n
a
n
d
n
av
ig
atio
n
p
er
f
o
r
m
a
n
ce
.
T
h
e
ev
alu
atio
n
ex
a
m
in
es
h
o
w
ef
f
ec
tiv
ely
th
e
r
o
b
o
t
f
o
llo
ws
p
lan
n
ed
tr
ajec
to
r
ies,
av
o
id
s
o
b
s
tacle
s
,
an
d
m
ain
tain
s
ac
cu
r
ate
r
ea
l
-
tim
e
p
o
s
e
esti
m
atio
n
u
s
in
g
L
iDA
R
,
I
MU
,
an
d
wh
ee
l
e
n
co
d
e
r
d
ata.
Sev
er
al
test
s
ce
n
ar
io
s
wer
e
co
n
d
u
cted
to
ex
am
in
e
th
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
u
n
d
er
d
if
f
er
en
t
o
p
er
atin
g
co
n
d
itio
n
s
.
T
h
e
r
esu
ltin
g
d
ata
ar
e
an
aly
ze
d
in
t
h
e
f
o
llo
win
g
s
u
b
s
ec
tio
n
s
to
d
is
cu
s
s
th
e
r
o
b
o
t
’
s
r
esp
o
n
s
e
to
v
ar
y
in
g
o
b
s
tacle
co
n
f
ig
u
r
atio
n
s
as we
ll a
s
th
e
ac
cu
r
ac
y
o
f
its
n
av
ig
atio
n
an
d
l
o
ca
lizatio
n
b
e
h
av
io
r
.
3
.
1
.
L
o
ca
liza
t
io
n r
esu
lt
T
h
is
s
ec
tio
n
p
r
o
v
id
es
a
q
u
an
titativ
e
ass
e
s
s
m
en
t
o
f
th
e
p
r
o
p
o
s
ed
lo
ca
lizatio
n
s
y
s
tem
in
th
e
ex
p
er
im
en
tal
war
eh
o
u
s
e
en
v
i
r
o
n
m
en
t.
T
h
e
ac
cu
r
ac
y
o
f
th
e
m
u
lti
-
s
en
s
o
r
f
u
s
io
n
f
r
am
ewo
r
k
is
ev
alu
ated
b
y
co
m
p
ar
in
g
th
e
r
o
b
o
t
’
s
esti
m
a
ted
tr
ajec
to
r
y
with
g
r
o
u
n
d
-
tr
u
th
m
ea
s
u
r
e
m
en
ts
.
T
h
e
an
al
y
s
is
co
n
s
id
er
s
b
o
th
tr
an
s
latio
n
al
an
d
r
o
tatio
n
al
er
r
o
r
s
in
o
r
d
er
to
e
x
am
in
e
th
e
ab
ilit
y
o
f
th
e
s
y
s
tem
to
lim
it
d
r
if
t
d
u
r
in
g
e
x
ten
d
e
d
n
av
ig
atio
n
.
T
h
e
r
esu
ltin
g
m
ea
s
u
r
em
en
ts
r
ef
lect
th
e
co
n
s
is
ten
cy
an
d
p
r
ec
is
io
n
o
f
th
e
SLA
M
-
b
ased
lo
ca
lizatio
n
p
r
o
ce
s
s
u
n
d
er
r
ea
l
-
tim
e
o
p
er
at
in
g
co
n
d
itio
n
s
.
3
.
1
.
1
.
Ro
bo
t
P
o
s
e
T
h
e
p
r
o
p
o
s
ed
AM
R
s
y
s
tem
was
in
itially
ev
alu
ated
b
ased
o
n
its
ab
ilit
y
to
esti
m
ate
th
e
r
o
b
o
t
p
o
s
e
(
θ)
d
u
r
in
g
n
av
ig
atio
n
in
th
e
test
ar
en
a.
I
n
th
is
ev
alu
atio
n
,
th
e
lo
ca
lizatio
n
m
o
d
u
le
f
u
s
ed
L
iDAR
,
wh
ee
l
en
co
d
er
,
an
d
I
MU
m
ea
s
u
r
em
en
ts
to
g
en
er
ate
a
co
n
tin
u
o
u
s
p
o
s
e
esti
m
ate,
wh
ich
was
s
u
b
s
eq
u
en
tly
co
m
p
ar
ed
with
r
ef
er
en
ce
p
o
s
itio
n
s
o
b
tain
ed
t
h
r
o
u
g
h
m
an
u
al
m
ea
s
u
r
em
en
ts
alo
n
g
a
p
r
ed
e
f
in
ed
p
at
h
.
T
h
i
s
co
m
p
ar
is
o
n
was
in
ten
d
ed
to
d
eter
m
in
e
wh
et
h
er
th
e
esti
m
ated
p
o
s
e
p
r
o
d
u
ce
d
b
y
th
e
lo
ca
lizatio
n
a
lg
o
r
ith
m
r
em
ain
e
d
s
u
f
f
icien
tly
clo
s
e
to
th
e
ac
tu
al
r
o
b
o
t
p
o
s
itio
n
to
s
u
p
p
o
r
t
r
eliab
le
au
to
n
o
m
o
u
s
n
a
v
ig
atio
n
.
T
ab
le
1
s
u
m
m
ar
izes
th
e
co
m
p
ar
is
o
n
b
etwe
en
th
e
p
o
s
e
co
m
m
an
d
ed
in
th
e
n
av
i
g
atio
n
p
r
o
g
r
am
an
d
th
e
ac
tu
al
p
o
s
e
m
ea
s
u
r
e
d
at
s
ev
er
al
s
am
p
le
way
p
o
in
ts
.
T
h
e
r
esu
lts
s
h
o
w
th
at
t
h
e
esti
m
ated
p
o
s
itio
n
s
in
th
e
m
ap
f
r
am
e
ar
e
co
n
s
is
ten
tly
clo
s
e
to
th
e
r
ef
e
r
en
ce
v
alu
es.
T
h
e
d
ev
iatio
n
s
in
th
e
-
an
d
-
co
o
r
d
in
ates
ar
e
o
n
th
e
o
r
d
er
o
f
a
f
ew
ce
n
tim
etr
e
s
,
wh
ile
th
e
o
r
ien
tatio
n
er
r
o
r
r
em
ain
s
with
in
a
f
ew
d
eg
r
ee
s
,
with
th
e
lar
g
est
d
ev
iatio
n
b
elo
w
a
p
p
r
o
x
im
atel
y
10
∘
.
T
h
ese
r
esu
lts
in
d
icate
th
at
th
e
lo
ca
lizatio
n
m
o
d
u
le
ca
n
est
im
ate
th
e
r
o
b
o
t
p
o
s
e
with
s
u
f
f
icien
t
ac
cu
r
ac
y
f
o
r
co
r
r
id
o
r
-
s
ca
le
in
d
o
o
r
n
a
v
ig
atio
n
,
an
d
v
is
u
ally
th
e
tr
aj
ec
to
r
y
o
f
t
h
e
r
o
b
o
t
f
o
llo
ws th
e
p
lan
n
e
d
p
ath
with
o
u
t n
o
ticea
b
le
d
r
if
t a
lo
n
g
th
e
t
est r
o
u
te.
I
n
ad
d
itio
n
to
q
u
an
titativ
e
ev
a
lu
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e
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u
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s
tr
u
ctu
r
e
o
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o
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tio
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ex
am
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ed
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s
in
g
th
e
g
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al
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r
a
p
h
r
e
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r
esen
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s
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o
wn
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Fig
u
r
e
6
.
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h
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is
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aliza
tio
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er
lay
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ated
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ajec
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d
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a
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ated
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ir
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tal
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ap
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h
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co
n
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ten
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alig
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o
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h
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ce
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icate
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ely
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ajec
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ical
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ir
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n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
7
2
2
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2
5
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6
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AE
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I
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t
J
R
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b
&
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u
to
m
,
Vo
l
.
1
5
,
No
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2
,
J
u
n
e
20
2
6
:
295
-
3
0
6
302
m
o
d
u
le
d
eliv
er
s
d
e
p
en
d
a
b
le
p
o
s
e
esti
m
ates
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u
itab
le
f
o
r
r
ea
l
-
tim
e
au
to
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o
m
o
u
s
n
av
ig
atio
n
in
in
d
o
o
r
en
v
ir
o
n
m
en
ts
.
T
h
e
s
tab
ilit
y
o
f
SLAM
an
d
th
e
m
i
n
im
al
d
r
i
f
t
o
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s
er
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ce
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u
p
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ef
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ly
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n
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u
s
t n
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ig
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er
f
o
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m
an
ce
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T
ab
le
1
.
R
o
b
o
t
p
o
s
e
test
r
esu
lt
P
o
si
t
i
o
n
i
n
P
r
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g
r
a
m
A
c
t
u
a
l
x
(
m)
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m)
θ (°
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x
(
m)
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(
m)
θ (°
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1
0
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Fig
u
r
e
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.
Glo
b
al
SLAM
g
r
ap
h
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d
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m
ated
r
o
b
o
t tr
ajec
to
r
y
3
.
1
.
2
.
L
o
ca
liza
t
io
n E
rr
o
r
T
o
p
r
o
v
id
e
a
m
o
r
e
q
u
an
titativ
e
m
ea
s
u
r
e
o
f
lo
ca
lizatio
n
ac
cu
r
ac
y
,
th
e
R
o
o
t
Me
an
Sq
u
ar
e
E
r
r
o
r
(
R
MSE
)
was
co
m
p
u
ted
f
r
o
m
th
e
p
o
s
e
co
m
p
ar
is
o
n
r
esu
lts
s
u
m
m
ar
ized
in
T
ab
le
1
u
s
in
g
th
e
esti
m
ated
a
n
d
r
ef
er
en
ce
r
o
b
o
t
p
o
s
es
r
ec
o
r
d
e
d
d
u
r
in
g
a
u
to
n
o
m
o
u
s
n
av
ig
ati
o
n
.
T
h
e
R
MSE
was
d
eter
m
in
ed
f
o
r
th
e
p
o
s
itio
n
co
m
p
o
n
en
ts
(
,
)
as
well
as
f
o
r
th
e
r
o
b
o
t
o
r
ien
tatio
n
(
)
,
b
ased
o
n
th
e
d
if
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er
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n
ce
s
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etwe
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th
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m
ated
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o
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co
r
r
esp
o
n
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g
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ef
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ce
m
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s
u
r
em
e
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ts
at
m
u
ltip
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s
am
p
led
lo
ca
tio
n
s
.
As
s
u
m
m
ar
ized
in
T
ab
le
2
,
th
e
R
MSE
v
alu
es
f
o
r
th
e
x
-
an
d
y
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p
o
s
itio
n
co
m
p
o
n
e
n
ts
ar
e
0
.
0
5
0
m
an
d
0
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0
4
7
m
,
r
esp
e
ctiv
ely
,
r
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ltin
g
in
a
co
m
b
in
ed
p
lan
a
r
p
o
s
itio
n
R
MSE
o
f
0
.
0
6
9
m
.
T
h
ese
r
e
s
u
lts
in
d
icate
th
at
th
e
lo
ca
liz
atio
n
er
r
o
r
r
em
ai
n
s
with
in
a
f
ew
ce
n
tim
eter
s
th
r
o
u
g
h
o
u
t
t
h
e
n
a
v
ig
atio
n
p
r
o
ce
s
s
.
T
h
e
o
r
ien
tatio
n
R
MSE
o
f
3
.
9
6
°
f
u
r
th
e
r
d
em
o
n
s
tr
ates stab
le
h
ea
d
in
g
e
s
tim
atio
n
d
u
r
in
g
co
r
r
i
d
o
r
-
s
ca
l
e
m
o
tio
n
.
T
ab
le
2
.
L
o
ca
lizatio
n
er
r
o
r
u
s
i
n
g
R
MSE
M
e
t
r
i
c
R
M
S
E
V
a
l
u
e
U
n
i
t
R
M
S
E
P
o
s
i
t
i
o
n
(
x
)
0
.
0
5
0
m
R
M
S
E
P
o
s
i
t
i
o
n
(
y
)
0
.
0
4
7
m
R
M
S
E
P
o
s
i
t
i
o
n
(
2
D
)
0
.
0
6
9
m
R
M
S
E
O
r
i
e
n
t
a
t
i
o
n
(
θ)
3
.
9
6
d
e
g
r
e
e
Fro
m
a
p
r
ac
tical
n
av
ig
atio
n
p
er
s
p
ec
tiv
e,
th
e
o
b
tain
ed
R
MS
E
v
alu
es
a
r
e
s
u
f
f
icien
tly
l
o
w
to
s
u
p
p
o
r
t
r
eliab
le
au
to
n
o
m
o
u
s
o
p
er
atio
n
in
in
d
o
o
r
en
v
i
r
o
n
m
e
n
ts
.
T
h
e
l
ev
el
o
f
p
o
s
itio
n
al
a
n
d
a
n
g
u
lar
ac
cu
r
ac
y
ac
h
iev
ed
en
ab
les
co
n
s
is
ten
t
p
ath
f
o
llo
win
g
,
s
af
e
o
b
s
tacle
clea
r
an
ce
,
an
d
s
tab
le
ex
ec
u
tio
n
o
f
n
a
v
ig
atio
n
task
s
with
o
u
t
r
eq
u
ir
in
g
ex
ter
n
al
c
o
r
r
ec
tio
n
,
t
h
er
eb
y
v
alid
atin
g
th
e
r
o
b
u
s
tn
e
s
s
o
f
th
e
p
r
o
p
o
s
ed
lo
ca
lizatio
n
s
y
s
tem
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
LiDAR
-
b
a
s
ed
s
en
s
o
r
fu
s
io
n
a
n
d
n
a
vig
a
tio
n
fo
r
in
d
o
o
r
a
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
ts
… (
R
ifd
a
Ha
kima
S
a
r
i
)
303
3
.
2
.
Na
v
ig
a
t
io
n r
esu
lt
T
h
e
p
ath
-
p
la
n
n
in
g
a
n
d
o
b
s
tacle
-
av
o
id
an
ce
p
er
f
o
r
m
an
ce
o
f
t
h
e
AM
R
was
ex
am
in
ed
th
r
o
u
g
h
a
s
er
ies
o
f
au
to
n
o
m
o
u
s
n
av
ig
atio
n
tr
ia
ls
d
esig
n
ed
to
r
ep
r
esen
t
war
eh
o
u
s
e
o
p
er
atin
g
co
n
d
itio
n
s
.
I
n
ea
ch
tr
ial,
th
e
r
o
b
o
t
was
in
s
tr
u
cted
to
m
o
v
e
f
r
o
m
a
p
r
ed
e
f
in
ed
s
tar
t
p
o
s
e
to
a
ta
r
g
et
p
o
s
e
u
s
in
g
t
h
e
SLAM
-
g
e
n
er
ated
m
a
p
as
th
e
s
tatic
g
lo
b
al
r
ef
er
en
ce
,
wh
ile
n
ea
r
b
y
o
b
s
tacle
s
wer
e
r
ep
r
e
s
en
ted
th
r
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u
g
h
a
l
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ca
l
co
s
tm
ap
.
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h
e
Nav
2
s
tack
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m
p
u
ted
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o
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al
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ath
u
s
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g
th
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A*
p
lan
n
er
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d
co
n
tin
u
o
u
s
ly
u
p
d
ated
th
e
lo
ca
l tr
ajec
to
r
y
b
ased
o
n
r
ea
l
-
tim
e
s
en
s
o
r
d
ata.
T
h
e
r
esu
ltin
g
tr
aj
ec
to
r
y
,
v
is
u
alize
d
i
n
Fig
u
r
e
6
,
s
h
o
ws
th
at
th
e
r
o
b
o
t
f
o
llo
ws
th
e
co
r
r
id
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r
lay
o
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t
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en
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s
s
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p
ied
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eg
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s
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icatin
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at
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lan
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d
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ath
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n
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t
with
th
e
en
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ir
o
n
m
en
t stru
ctu
r
e
an
d
av
o
id
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f
o
r
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.
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er
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an
ce
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u
m
m
ar
ized
in
T
ab
le
3
,
wh
ic
h
r
ep
o
r
ts
th
e
o
u
tco
m
e
o
f
1
5
a
u
to
n
o
m
o
u
s
n
av
ig
atio
n
tr
ials
u
n
d
er
d
if
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er
en
t
co
m
b
in
atio
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s
o
f
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tar
t
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d
g
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al
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o
s
es.
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h
e
AM
R
s
u
cc
ess
f
u
lly
r
ea
ch
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th
e
g
o
al
with
o
u
t
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llis
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n
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4
o
f
th
ese
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ials
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r
r
esp
o
n
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g
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a
m
is
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ile
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llis
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wer
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r
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d
.
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h
i
s
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th
e
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e
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s
u
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iter
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is
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io
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o
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ates
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ig
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f
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icien
tly
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ty
p
ical
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o
o
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lo
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is
tics
o
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er
atio
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,
w
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e
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etitiv
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an
d
co
n
s
is
ten
t
n
av
ig
atio
n
b
e
h
av
io
r
is
r
eq
u
ir
e
d
.
T
h
e
f
ew
f
ailu
r
e
ca
s
es
wer
e
ass
o
ciate
d
with
s
itu
atio
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s
in
wh
ich
th
e
r
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o
t
ap
p
r
o
ac
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tig
h
t
p
ass
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es
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th
e
lo
ca
l
p
lan
n
er
b
r
ief
ly
s
elec
ted
tr
ajec
to
r
ies
th
at
b
r
o
u
g
h
t
t
h
e
r
o
b
o
t
to
o
clo
s
e
to
o
b
s
tacle
s
,
s
u
g
g
esti
n
g
th
at
f
u
r
th
e
r
tu
n
i
n
g
o
f
t
h
e
c
o
s
tm
ap
in
f
latio
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r
ad
i
u
s
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d
o
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s
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co
s
t p
ar
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eter
s
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ld
f
u
r
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er
i
m
p
r
o
v
e
r
o
b
u
s
tn
ess
.
T
ab
le
3
.
Nav
ig
atio
n
p
e
r
f
o
r
m
a
n
ce
s
u
m
m
ar
y
N
u
mb
e
r
o
f
N
a
v
i
g
a
t
i
o
n
Te
s
t
S
u
c
c
e
ss
R
a
t
e
(
%)
N
u
mb
e
r
o
f
C
o
l
l
i
s
i
o
n
s
15
9
3
.
3
3
2
T
h
e
o
b
s
tacle
av
o
id
an
ce
b
eh
av
io
r
o
f
th
e
AM
R
was
ev
alu
ated
u
n
d
e
r
b
o
th
s
tatic
an
d
d
y
n
am
ic
co
n
d
itio
n
s
to
r
ef
lect
r
ea
lis
tic
in
d
o
o
r
s
ce
n
ar
io
s
.
Fo
r
s
tatic
o
b
s
tacle
s
,
f
ix
ed
o
b
jects
s
u
ch
as
a
ch
air
an
d
a
v
er
tical
b
o
ar
d
wer
e
p
lace
d
d
ir
ec
tly
al
o
n
g
t
h
e
co
r
r
id
o
r
b
etwe
en
th
e
s
tar
t
an
d
g
o
al
p
o
s
itio
n
s
.
I
n
th
ese
tr
ials
,
th
e
r
o
b
o
t
co
n
s
is
ten
tly
d
etec
ted
th
e
o
b
s
tacle
s
th
r
o
u
g
h
th
e
lo
ca
l c
o
s
tm
ap
an
d
g
en
er
ate
d
alter
n
ativ
e
tr
aj
ec
to
r
ies th
at
r
o
u
ted
ar
o
u
n
d
th
em
,
m
ain
tain
in
g
a
m
in
im
u
m
s
ep
ar
atio
n
d
is
tan
ce
g
r
ea
ter
th
an
th
e
p
r
ed
ef
i
n
ed
s
af
ety
th
r
esh
o
ld
o
f
0
.
2
5
m
.
T
o
f
u
r
t
h
er
ass
ess
r
o
b
u
s
tn
ess
,
ad
d
itio
n
al
ex
p
er
im
e
n
ts
wer
e
co
n
d
u
cted
i
n
th
e
p
r
esen
ce
o
f
d
y
n
am
ic
o
b
s
tacle
s
,
in
clu
d
in
g
a
p
er
s
o
n
b
r
ief
ly
cr
o
s
s
in
g
th
e
r
o
b
o
t
’
s
p
ath
a
n
d
o
b
jects
b
ein
g
r
ep
o
s
itio
n
ed
d
u
r
in
g
n
av
ig
atio
n
.
W
h
en
s
u
ch
ch
an
g
es
o
cc
u
r
r
ed
,
th
e
lo
ca
l
p
lan
n
er
u
p
d
ated
th
e
co
s
tm
ap
an
d
tr
ig
g
e
r
ed
o
n
lin
e
r
ep
l
an
n
in
g
,
ca
u
s
in
g
th
e
r
o
b
o
t
t
o
r
ed
u
ce
its
s
p
ee
d
,
a
d
j
u
s
t
its
h
ea
d
in
g
,
a
n
d
s
elec
t
a
n
ew
co
llis
io
n
-
f
r
ee
tr
ajec
to
r
y
w
h
ile
p
r
eser
v
in
g
th
e
o
r
ig
in
al
g
o
al.
Qu
alitativ
e
in
s
p
ec
tio
n
o
f
th
e
r
esu
ltin
g
p
ath
s
in
d
icate
s
th
at
th
e
AM
R
was
ab
le
to
a
v
o
id
b
o
th
s
tatic
an
d
m
o
v
in
g
o
b
s
tacle
s
with
o
u
t
b
ec
o
m
in
g
s
tu
c
k
o
r
ab
an
d
o
n
in
g
th
e
m
is
s
io
n
,
a
n
d
it
c
o
n
tin
u
ed
to
c
o
m
p
lete
n
av
ig
atio
n
task
s
with
in
ac
ce
p
t
ab
le
b
o
u
n
d
s
o
f
tim
e
an
d
p
ath
l
en
g
th
.
Ov
er
all,
th
e
ex
p
e
r
im
en
tal
f
in
d
in
g
s
in
d
icate
th
at
th
e
p
r
o
p
o
s
ed
s
y
s
tem
is
ca
p
ab
le
o
f
g
e
n
e
r
atin
g
s
af
e
an
d
ef
f
icien
t
n
a
v
ig
atio
n
p
ath
s
in
b
o
th
s
tatic
an
d
m
o
d
er
ately
d
y
n
am
ic
in
d
o
o
r
e
n
v
ir
o
n
m
en
ts
.
T
h
e
h
ig
h
m
is
s
io
n
s
u
cc
ess
r
ate,
r
esp
ec
t
f
o
r
s
af
et
y
d
is
tan
ce
co
n
s
tr
ain
ts
,
an
d
a
b
ilit
y
to
r
ep
lan
in
r
esp
o
n
s
e
t
o
m
o
v
i
n
g
o
b
s
tacle
s
in
d
icate
th
at
th
e
AM
R
i
s
s
u
it
ab
le
f
o
r
d
ep
lo
y
m
en
t
in
war
eh
o
u
s
e
-
lik
e
s
ettin
g
s
,
wh
er
e
aisl
es
m
ay
b
e
p
ar
tially
o
b
s
tr
u
cted
an
d
th
e
e
n
v
ir
o
n
m
e
n
t c
an
ch
a
n
g
e
d
u
r
in
g
o
p
e
r
atio
n
.
3
.
3
.
Resul
t
a
na
ly
s
is
W
h
ile
th
e
ex
p
er
im
e
n
tal
r
esu
lt
s
p
r
o
v
id
e
a
s
tr
o
n
g
i
n
d
icatio
n
o
f
th
e
s
y
s
tem
’
s
b
aselin
e
ca
p
a
b
ilit
ies,
a
cr
itical
an
aly
s
is
r
ev
ea
ls
s
p
ec
if
ic
lim
itatio
n
s
r
eg
ar
d
in
g
s
tatis
tical
s
ig
n
if
ican
ce
an
d
en
v
ir
o
n
m
en
tal
co
m
p
le
x
ity
.
First,
th
e
r
ep
o
r
ted
m
is
s
io
n
s
u
cc
ess
r
ate
o
f
9
3
.
3
3
% m
u
s
t b
e
in
ter
p
r
eted
with
in
th
e
co
n
te
x
t o
f
th
e
s
am
p
le
s
ize
o
f
1
5
tr
ials
.
W
h
ile
th
is
s
am
p
le
is
s
u
f
f
icien
t
to
d
em
o
n
s
tr
ate
th
e
f
u
n
ctio
n
al
i
n
teg
r
atio
n
o
f
t
h
e
R
OS2
Nav
2
s
tack
an
d
th
e
s
en
s
o
r
f
u
s
io
n
alg
o
r
ith
m
,
it is
n
o
t statis
tical
ly
ex
h
au
s
tiv
e.
T
h
e
ab
s
en
ce
o
f
a
lar
g
e
-
s
ca
le
d
ataset
p
r
ev
en
ts
th
e
ca
lcu
latio
n
o
f
n
ar
r
o
w
co
n
f
id
en
ce
in
ter
v
als
o
r
r
ig
o
r
o
u
s
h
y
p
o
th
esis
test
in
g
r
eg
ar
d
in
g
lo
n
g
-
ter
m
f
ailu
r
e
r
ates.
C
o
n
s
eq
u
en
tly
,
th
e
claim
o
f
f
ea
s
ib
ilit
y
f
o
r
p
r
ac
tical
in
d
o
o
r
lo
g
is
tics
ap
p
licatio
n
s
is
c
u
r
r
en
tly
p
r
e
d
icate
d
o
n
th
e
ass
u
m
p
tio
n
o
f
co
n
tr
o
lled
en
v
ir
o
n
m
en
tal
v
ar
ia
b
les.
T
h
e
s
y
s
tem
is
v
alid
ated
f
o
r
s
tr
u
ctu
r
ed
war
eh
o
u
s
e
zo
n
es,
b
u
t
d
ep
lo
y
m
en
t
in
h
ig
h
ly
ch
ao
tic
o
r
u
n
s
tr
u
ct
u
r
ed
in
d
u
s
tr
ial
f
ac
ilit
ies
wo
u
ld
r
eq
u
ir
e
f
u
r
th
er
v
alid
atio
n
o
n
a
s
ig
n
if
ican
tly
lar
g
er
s
ca
le
to
ac
co
u
n
t
f
o
r
e
d
g
e
ca
s
es.
Fu
r
th
er
m
o
r
e
,
th
e
e
v
alu
atio
n
o
f
d
y
n
am
ic
o
b
s
tacle
h
an
d
lin
g
r
elied
p
r
im
ar
ily
o
n
q
u
an
titativ
e
s
u
cc
ess
/f
ail
m
etr
ic
s
an
d
q
u
alitativ
e
v
is
u
al
in
s
p
ec
tio
n
o
f
tr
aje
cto
r
y
s
m
o
o
th
n
ess
.
W
h
ile
v
is
u
al
an
aly
s
is
co
n
f
ir
m
s
th
at
th
e
lo
ca
l
p
lan
n
er
s
u
cc
ess
f
u
lly
in
f
lated
co
s
tm
ap
s
an
d
r
e
-
r
o
u
ted
,
it
lack
s
th
e
g
r
an
u
lar
ity
to
q
u
a
n
tify
t
h
e
s
p
ec
if
ic
“
s
o
cial
”
ef
f
icien
cy
o
r
clea
r
an
ce
m
ar
g
i
n
s
in
r
ea
l
-
tim
e.
Fin
ally
,
th
e
r
elian
ce
o
n
2
D
L
iDAR
co
n
s
titu
tes
a
p
er
ce
p
tio
n
lim
itatio
n
in
co
m
p
lex
v
er
tical
en
v
ir
o
n
m
en
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
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4.
CO
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h
is
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th
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p
r
o
b
lem
o
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eliab
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in
d
o
o
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v
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to
n
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m
o
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s
m
o
b
ile
r
o
b
o
ts
o
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er
atin
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i
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war
eh
o
u
s
e
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lik
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ir
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in
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f
r
a
m
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k
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at
s
u
p
p
o
r
ts
m
ap
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in
g
,
lo
ca
lizatio
n
,
an
d
p
ath
p
lan
n
i
n
g
f
o
r
s
tr
u
ctu
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ed
in
d
o
o
r
o
p
er
atio
n
.
E
x
p
er
im
en
tal
r
esu
lts
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em
o
n
s
tr
a
te
th
at
th
e
r
o
b
o
t
m
ain
tain
s
s
tab
le
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ca
lizatio
n
a
n
d
ex
ec
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tes
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to
n
o
m
o
u
s
n
av
i
g
atio
n
task
s
with
a
h
ig
h
lev
el
o
f
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eliab
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,
ac
h
iev
in
g
a
n
av
ig
ati
o
n
s
u
cc
ess
r
ate
o
f
9
3
.
3
3
%
wh
ile
s
af
ely
av
o
id
in
g
b
o
th
s
tatic
an
d
d
y
n
am
ic
o
b
s
tacle
s
.
T
o
b
u
ild
u
p
o
n
th
es
e
f
in
d
in
g
s
,
f
u
tu
r
e
r
esear
ch
will
f
o
c
u
s
o
n
tr
an
s
it
io
n
in
g
f
r
o
m
2
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ch
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3
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SLAM
an
d
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em
an
tic
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v
ir
o
n
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e
n
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u
n
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er
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tan
d
in
g
.
Ad
d
itio
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f
u
r
th
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f
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will
b
e
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ir
ec
te
d
to
war
d
o
p
tim
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th
e
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lab
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in
lar
g
e
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s
ca
le
in
d
u
s
tr
ial
ap
p
licatio
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s
.
F
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.
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h
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C
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ip
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