Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866916628830093312 |
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| author | Qureshi, Muzaffar Ogri, Tochukwu Elijah Ramos, Humberto Bell, Zachary I. Kamalapurkar, Rushikesh |
| author_facet | Qureshi, Muzaffar Ogri, Tochukwu Elijah Ramos, Humberto Bell, Zachary I. Kamalapurkar, Rushikesh |
| contents | This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enabled and GPS-denied areas while collecting measurements. User-defined error bounds determine the dwell time in each region. A switching trajectory is then designed to ensure field measurements in GPS-denied regions remain within the specified error limits. A Lyapunov-based stability analysis guarantees bounded error trajectories while tracking the desired path. The effectiveness of the proposed methodology is demonstrated through simulations, with an error analysis comparing the GP-predicted scalar field model to the actual field. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_17584 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments Qureshi, Muzaffar Ogri, Tochukwu Elijah Ramos, Humberto Bell, Zachary I. Kamalapurkar, Rushikesh Systems and Control This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enabled and GPS-denied areas while collecting measurements. User-defined error bounds determine the dwell time in each region. A switching trajectory is then designed to ensure field measurements in GPS-denied regions remain within the specified error limits. A Lyapunov-based stability analysis guarantees bounded error trajectories while tracking the desired path. The effectiveness of the proposed methodology is demonstrated through simulations, with an error analysis comparing the GP-predicted scalar field model to the actual field. |
| title | Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2502.17584 |