5 accepted papers
As more robots, such as autonomous vehicles, are deployed in life-critical situations it is imperative to consider safety, and in particular, localization safety. While it would be ideal to guarantee localization safety without having to modify the environment, this is not always possible and one ma
This paper presents a method to validate localization safety for a preplanned trajectory in a given environment. Localization safety is defined as integrity risk and quantified as the probability of an undetected localization failure. Integrity risk differs from previously used metrics in robotics i…
Localization safety, or integrity risk, is the probability of undetected localization failures and a common aviation performance metric used to verify a minimum accuracy requirement. As autonomous robots become more common, applying integrity risk metrics will be necessary to verify localization per
This paper presents a Model Predictive Controller (MPC) that uses navigation integrity risk as a constraint. Navigation integrity risk accounts for the presence of faults in localization sensors and algorithms, an increasingly important consideration as the number of robots operating in life and mis…
This paper presents a new methodology to quantify robot localization safety by evaluating integrity risk, a performance metric widely used in open-sky aviation applications that has been recently extended to mobile ground robots. Here, a robot is localized by feeding relative measurements to mapped…