Efficient integrity monitoring for KF-based localization

Guillermo Duenas Arana, Mathieu Joerger, Matthew Spenko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations


This paper presents a new method to efficiently monitor localization safety in mobile robots. Localization safety is quantified by measuring the system's integrity risk, which is a well-known aviation performance metric. However, aviation integrity monitoring solutions almost exclusively rely on the Global Navigation Satellite System (GNSS) while robot navigation usually needs the additional information provided by a state evolution model and/or relative positioning sensors, which makes previously established approaches impractical. In response, this paper develops an efficient integrity monitoring methodology applicable to Kalman Filter-based localization. The work is intended for life-or mission-critical operations such as co-robot applications where ignoring the impact of faults can jeopardize human safety.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538660263
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2019 International Conference on Robotics and Automation, ICRA 2019

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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