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Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Standard

Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization. / Neto, Wolmar Araújo; Villa, Daniel Khede Dourado; Sarcinelli-Filho, Mário et al.
Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. ed. / Jan Kacur; Tomas Skovranek; Marek Laciak; Andrea Mojzisova. Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Neto, WA, Villa, DKD, Sarcinelli-Filho, M, Dos Santos, MF, Lima, J, Pereira, AI, De Morais, MHF & Mercorelli, P 2025, Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization. in J Kacur, T Skovranek, M Laciak & A Mojzisova (eds), Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025, Institute of Electrical and Electronics Engineers Inc., 26th International Carpathian Control Conference, ICCC 2025, Stary Smokovec, High Tatras, Slovakia, 19.05.25. https://doi.org/10.1109/ICCC65605.2025.11022810

APA

Neto, W. A., Villa, D. K. D., Sarcinelli-Filho, M., Dos Santos, M. F., Lima, J., Pereira, A. I., De Morais, M. H. F., & Mercorelli, P. (2025). Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization. In J. Kacur, T. Skovranek, M. Laciak, & A. Mojzisova (Eds.), Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025 (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCC65605.2025.11022810

Vancouver

Neto WA, Villa DKD, Sarcinelli-Filho M, Dos Santos MF, Lima J, Pereira AI et al. Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization. In Kacur J, Skovranek T, Laciak M, Mojzisova A, editors, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Institute of Electrical and Electronics Engineers Inc. 2025. (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025). doi: 10.1109/ICCC65605.2025.11022810

Bibtex

@inbook{4a7ab8c01d494ae58d669adc15f1ce51,
title = "Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization",
abstract = "This study presents an approach to improving the localization of mobile robots in a controlled test environment through sensor fusion. Currently, the position of the ground robot (Unmanned Ground Vehicle (UGV) P3DX) can be estimated using an optimization algorithm or another technique based on a previously known map. In contrast, the aerial robot (Unmanned Aerial Vehicle (UAV) Bebop Parrot 2) can determine its relative position by detecting a marker on the ground robot using the Robot Operating System (ROS) WhyCon package. However, ambiguities or disturbances may compromise the accuracy of the robots' localization. To mitigate these limitations, Ultra-WideBand (UWB) sensors were incorporated into the system, enabling a more robust data fusion by integrating information from multiple sensors. Additionally, a filter was applied to reduce the impact of high-frequency noise on position estimation. Accurate localization test data were used to construct a simulated scenario and analyze the performance of the proposed approach. The simulation results demonstrate that sensor fusion, combined with noise filtering, significantly improves localization accuracy, making the approach promising for applications in mobile robot navigation.",
keywords = "Adaptive Control, Data Fusion, Position Estimation, UAV, UGV, Engineering",
author = "Neto, {Wolmar Ara{\'u}jo} and Villa, {Daniel Khede Dourado} and M{\'a}rio Sarcinelli-Filho and {Dos Santos}, {Murillo Ferreira} and Jos{\'e} Lima and Pereira, {Ana Isabel} and {De Morais}, {Maur{\'i}cio Herche F{\'o}fano} and Paolo Mercorelli",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 26th International Carpathian Control Conference, ICCC 2025 ; Conference date: 19-05-2025 Through 21-05-2025",
year = "2025",
doi = "10.1109/ICCC65605.2025.11022810",
language = "English",
series = "Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Jan Kacur and Tomas Skovranek and Marek Laciak and Andrea Mojzisova",
booktitle = "Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025",
address = "United States",

}

RIS

TY - CHAP

T1 - Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization

AU - Neto, Wolmar Araújo

AU - Villa, Daniel Khede Dourado

AU - Sarcinelli-Filho, Mário

AU - Dos Santos, Murillo Ferreira

AU - Lima, José

AU - Pereira, Ana Isabel

AU - De Morais, Maurício Herche Fófano

AU - Mercorelli, Paolo

N1 - Publisher Copyright: © 2025 IEEE.

PY - 2025

Y1 - 2025

N2 - This study presents an approach to improving the localization of mobile robots in a controlled test environment through sensor fusion. Currently, the position of the ground robot (Unmanned Ground Vehicle (UGV) P3DX) can be estimated using an optimization algorithm or another technique based on a previously known map. In contrast, the aerial robot (Unmanned Aerial Vehicle (UAV) Bebop Parrot 2) can determine its relative position by detecting a marker on the ground robot using the Robot Operating System (ROS) WhyCon package. However, ambiguities or disturbances may compromise the accuracy of the robots' localization. To mitigate these limitations, Ultra-WideBand (UWB) sensors were incorporated into the system, enabling a more robust data fusion by integrating information from multiple sensors. Additionally, a filter was applied to reduce the impact of high-frequency noise on position estimation. Accurate localization test data were used to construct a simulated scenario and analyze the performance of the proposed approach. The simulation results demonstrate that sensor fusion, combined with noise filtering, significantly improves localization accuracy, making the approach promising for applications in mobile robot navigation.

AB - This study presents an approach to improving the localization of mobile robots in a controlled test environment through sensor fusion. Currently, the position of the ground robot (Unmanned Ground Vehicle (UGV) P3DX) can be estimated using an optimization algorithm or another technique based on a previously known map. In contrast, the aerial robot (Unmanned Aerial Vehicle (UAV) Bebop Parrot 2) can determine its relative position by detecting a marker on the ground robot using the Robot Operating System (ROS) WhyCon package. However, ambiguities or disturbances may compromise the accuracy of the robots' localization. To mitigate these limitations, Ultra-WideBand (UWB) sensors were incorporated into the system, enabling a more robust data fusion by integrating information from multiple sensors. Additionally, a filter was applied to reduce the impact of high-frequency noise on position estimation. Accurate localization test data were used to construct a simulated scenario and analyze the performance of the proposed approach. The simulation results demonstrate that sensor fusion, combined with noise filtering, significantly improves localization accuracy, making the approach promising for applications in mobile robot navigation.

KW - Adaptive Control

KW - Data Fusion

KW - Position Estimation

KW - UAV

KW - UGV

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=105008967312&partnerID=8YFLogxK

U2 - 10.1109/ICCC65605.2025.11022810

DO - 10.1109/ICCC65605.2025.11022810

M3 - Article in conference proceedings

AN - SCOPUS:105008967312

T3 - Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025

BT - Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025

A2 - Kacur, Jan

A2 - Skovranek, Tomas

A2 - Laciak, Marek

A2 - Mojzisova, Andrea

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 26th International Carpathian Control Conference, ICCC 2025

Y2 - 19 May 2025 through 21 May 2025

ER -

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Advancing Sustainability and Productivity: The Role of Precision Agriculture in Vineyards and Olive Groves

Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

Research output: Contributions to collected editions/works › Contributions to collected editions/anthologies › Research › peer-review

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

Research output: Journal contributions › Journal articles › Research › peer-review

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, In: IEEE Open Journal of Power Electronics. 6, p. 734-746 13 p.

Research output: Journal contributions › Journal articles › Research › peer-review

Business Analytics and Making Decision Based on Kalman Filter in Stock Prediction Case

Kurniawan, S. & Mercorelli, P., 27.05.2025, 5th Congress on Intelligent Systems, CIS 2024: Volume 1. Kumar, S., Mary Anita, E. A., Kim, J. H. & Nagar, A. (eds.). Springer Science and Business Media Deutschland, p. 309-320 12 p. (Lecture Notes in Networks and Systems; vol. 1275).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Libório, L. O., Pimentel, G. O., Dos Santos, M. F., Fernandes, F. M., Lima, J., De Morais, M. H. F., Mercorelli, P. & Pereira, A. I., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Institute of Electrical and Electronics Engineers Inc., (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI

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