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Stochastic Gradient Descent Localisation in Quadruped Robots

Son Bao PhamContact Information, Bernhard HengstContact Information, Darren IbbotsonContact Information and Claude SammutContact Information

(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.

Contact Information Son Bao Pham
Email: sonp@cse.unsw.edu.au

Contact Information Bernhard Hengst
Email: bernhardh@cse.unsw.edu.au

Contact Information Darren Ibbotson
Email: s2207509@cse.unsw.edu.au

Contact Information Claude Sammut
Email: claude@cse.unsw.edu.au
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Referenced by
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  1. Chalup, Stephan K. (2007) . IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews) 37(3)
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