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Book Chapter

Stochastic Gradient Descent Localisation in Quadruped Robots

Book Series	Lecture Notes in Computer Science
Publisher	Springer Berlin / Heidelberg
ISSN	0302-9743 (Print) 1611-3349 (Online)
Volume	Volume 2377/2002
Book	RoboCup 2001: Robot Soccer World Cup V
DOI	10.1007/3-540-45603-1
Copyright	2002
ISBN	978-3-540-43912-7
DOI	10.1007/3-540-45603-1_58
Pages	83-105
Subject Collection	Computer Science
SpringerLink Date	Tuesday, January 01, 2002

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Stochastic Gradient Descent Localisation in Quadruped Robots

Son Bao Pham⁴, Bernhard Hengst⁴, Darren Ibbotson⁴ and Claude Sammut⁴

(4)	School of Computer Science and Engineering, University of New South Wales, UNSW, Sydney, 2052, Australia

Abstract

Competing at the RoboCup 2000 Sony legged robot league, the UNSW team convincingly won all their matches. One of the advantages of the team was a new localisation algorithm that is very fast and can tolerate noisy input from the environment as well as unexpected collisions with other objects. This paper describes the algorithm in detail.