2025/02/24 by Muzaffar Qureshi, Tochukwu Elijah Ogri, Qureshi, Muzaffar +7
Computer Science · Engineering · #FOS: Electrical engineering #Gaussian Processes and Bayesian Inference #Inertial Sensor and Navigation #Systems and Control (eess.SY) #Target Tracking and Data Fusion in Sensor Networks #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2502.17584
openalex publication_date 2025/02/24 · openalex created_date 2025/10/15 · openalex updated_date 2026/07/28
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.