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In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, Vol. 2 (2003), pp. 1594-1599 vol.2, doi:10.1109/robot.2003.1241822 Key: citeulike:11216207
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In this paper, dead-reckoning error in mobile robots is studied in the context of several different models. These models are derived first in the form of stochastic differential equations (SDEs). Corresponding Fokker-Planck equations are derived, and desired probability density functions (PDFs) of robot pose are computed by using the Fourier transform for SE(2).
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