Adaptive relative velocity estimation algorithm for autonomous mobile robots using the measurements on acceleration and relative distance
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Bibliographic record
Abstract
Summary In this article, an adaptive algorithm is proposed for online velocity estimation of the autonomous mobile robots (AMRs) without positioning data received from a Global Positioning System (GPS) module or other means for odometry. Unlike the popular Kalman and particle filters that use the measurements on vectors of global (or local) position and acceleration of a mobile robot, the proposed adaptive relative velocity estimation (ARVE) algorithm requires the scalar value of measured distance to a beacon agent and also the measurement on acceleration vector, in order to generate an online estimation of the global velocity vector of a mobile robot. Combining the ARVE algorithm with the recently proposed adaptive relative position estimation (ARPE) algorithm provides a solution for online estimation of the translational states of a mobile robot without accessing the GPS data, which makes the package applicable in both indoor and outdoor environments. The stability of the ARVE algorithm is analyzed with LaSalle‐Yoshizawa theorem. In addition, two simulation studies are provided to show the application of the proposed estimation package (ARVE+ARPE) for aerial AMRs in two cases corresponding to the stationary and moving beacon agents. In the simulation results, it is shown that the estimation package can be used in conjunction with the recently proposed adaptive model‐free control (AMFC) algorithm to achieve desired tracking objective in autonomous movement of a quadrotor, without requiring the information on the internal dynamics of the robot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it