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Mobile Robot Pose Tracking for Performance Analysis

Published

Author(s)

Alan M. Lytle, Kamel S. Saidi, William C. Stone, Michael O. Shneier

Abstract

The NIST Construction Metrology and Automation Group (CMAG), in cooperation with the NIST Intelligent Systems Division (ISD), is researching robotic structural steel placement as part of a project to develop an Automated Steel Construction Testbed (ASCT). The initial phase of this project centers on tracking a six degree-of-freedom (DOF) robotic crane with a laser-based site measurement system (SMS) to provide position feedback for autonomous steel assembly. Follow-on efforts will use a high-resolution LADAR scanner co-registered with the SMS to provide world model data. The combination of these two advanced metrology systems provides an opportunity for testing performance characteristics of mobile intelligent systems.
Citation
Mobile Robot Pose Tracking for Performance Analysis

Keywords

3-D coordinate measurement systems, intelligent control, intelligent systems, performance metrics

Citation

Lytle, A. , Saidi, K. , Stone, W. and Shneier, M. (2002), Mobile Robot Pose Tracking for Performance Analysis, Mobile Robot Pose Tracking for Performance Analysis, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=860437 (Accessed July 27, 2021)
Created August 15, 2002, Updated February 17, 2017