IEEE Robotics & Automation Magazine - December 2022 - 56

correlation becomes an approximately directly proportional
relationship when the receiver is far away from the emitter
()
6dis sre
negative correlation with ().
25d .@ Moreover, it is obvious that ()V sir
dis sr
has a
Perception Modules
For a robot equipped with our electric sense-based hardware as
well as an IMU sensor, we construct three perception modules,
including the dynamic-model module, the IMU module, and
the electric sense module (Figure 4). These three modules separately
estimate the position and/or orientation of the robot,
which provides a basis for us to design localization methods.
Here we assume that the robot swims in two dimensions
because our experimental pool is not deep enough. Thus, the
three perception modules focus on the perception in a 2D environment.
It is worth emphasizing that our proposed electric
sense hardware solution is able to work in a 3D environment
(see our discussions in the section " Real-World Applications " ).
Dynamic-Model Module (the Blue Module in Figure 4)
This module updates the position estimation [, ]xy
based on the previous estimation kh and the control input u :k
kk
++
11
[, ]( ,),
xy Dynamic uhkk
T
kk
++ =
11
(2)
IMU Module (the Green Module in Figure 4)
Since the IMU sensor has very high accuracy in the short
term, the IMU module updates the orientation estimation
k 1
} + based on the previous estimation ψk and the IMU
IMU
:
}} }D=+ k
k+1
k
where D} is the increment of the yaw angle of the IMU.
IMU
k
Electric Sense Module (the Red Module in Figure 4)
This module is based on the PF to fuse the estimation
information, where the sampling importance resampling
(SIR) algorithm [17] is adopted. Using the SIR algorithm,
the electric sense module updates the pose estimation
k 1
h +
=
V VV V T
12 3
by fusing the electric receiver's measurements
[]
() ,i
the pose estimation h 1+
()
k
i
updated by adding a random noise e , which represents
()
k
i
Camera
Servo Motor
Propeller
V02
V01
Z
V03
V04
Electric Receiver
(a)
(b)
Y X
IMU
" ∞ " Trajectory
Robot With
Electric Receiver
together with the estimation output from
its previous module(s), i.e., the dynamic-model module
and/or the IMU module. Specifically, first, for each particle
i, denoted by the superscript
is
IMU
,
(3)
data D}k
where []T
h =
kk kkxy }
· Dynamic( · ) represents the robot's
dynamic model composed of a series of equations.
Electric Emitter
Robot
Electric Emitter
(c)
(d)
Figure 6. Small underwater robot and experimental platform. The electric receiver is equipped on the robot, while the electric emitters
are located in the pool.
56 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022

IEEE Robotics & Automation Magazine - December 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2022

Contents
IEEE Robotics & Automation Magazine - December 2022 - Cover1
IEEE Robotics & Automation Magazine - December 2022 - Cover2
IEEE Robotics & Automation Magazine - December 2022 - Contents
IEEE Robotics & Automation Magazine - December 2022 - 2
IEEE Robotics & Automation Magazine - December 2022 - 3
IEEE Robotics & Automation Magazine - December 2022 - 4
IEEE Robotics & Automation Magazine - December 2022 - 5
IEEE Robotics & Automation Magazine - December 2022 - 6
IEEE Robotics & Automation Magazine - December 2022 - 7
IEEE Robotics & Automation Magazine - December 2022 - 8
IEEE Robotics & Automation Magazine - December 2022 - 9
IEEE Robotics & Automation Magazine - December 2022 - 10
IEEE Robotics & Automation Magazine - December 2022 - 11
IEEE Robotics & Automation Magazine - December 2022 - 12
IEEE Robotics & Automation Magazine - December 2022 - 13
IEEE Robotics & Automation Magazine - December 2022 - 14
IEEE Robotics & Automation Magazine - December 2022 - 15
IEEE Robotics & Automation Magazine - December 2022 - 16
IEEE Robotics & Automation Magazine - December 2022 - 17
IEEE Robotics & Automation Magazine - December 2022 - 18
IEEE Robotics & Automation Magazine - December 2022 - 19
IEEE Robotics & Automation Magazine - December 2022 - 20
IEEE Robotics & Automation Magazine - December 2022 - 21
IEEE Robotics & Automation Magazine - December 2022 - 22
IEEE Robotics & Automation Magazine - December 2022 - 23
IEEE Robotics & Automation Magazine - December 2022 - 24
IEEE Robotics & Automation Magazine - December 2022 - 25
IEEE Robotics & Automation Magazine - December 2022 - 26
IEEE Robotics & Automation Magazine - December 2022 - 27
IEEE Robotics & Automation Magazine - December 2022 - 28
IEEE Robotics & Automation Magazine - December 2022 - 29
IEEE Robotics & Automation Magazine - December 2022 - 30
IEEE Robotics & Automation Magazine - December 2022 - 31
IEEE Robotics & Automation Magazine - December 2022 - 32
IEEE Robotics & Automation Magazine - December 2022 - 33
IEEE Robotics & Automation Magazine - December 2022 - 34
IEEE Robotics & Automation Magazine - December 2022 - 35
IEEE Robotics & Automation Magazine - December 2022 - 36
IEEE Robotics & Automation Magazine - December 2022 - 37
IEEE Robotics & Automation Magazine - December 2022 - 38
IEEE Robotics & Automation Magazine - December 2022 - 39
IEEE Robotics & Automation Magazine - December 2022 - 40
IEEE Robotics & Automation Magazine - December 2022 - 41
IEEE Robotics & Automation Magazine - December 2022 - 42
IEEE Robotics & Automation Magazine - December 2022 - 43
IEEE Robotics & Automation Magazine - December 2022 - 44
IEEE Robotics & Automation Magazine - December 2022 - 45
IEEE Robotics & Automation Magazine - December 2022 - 46
IEEE Robotics & Automation Magazine - December 2022 - 47
IEEE Robotics & Automation Magazine - December 2022 - 48
IEEE Robotics & Automation Magazine - December 2022 - 49
IEEE Robotics & Automation Magazine - December 2022 - 50
IEEE Robotics & Automation Magazine - December 2022 - 51
IEEE Robotics & Automation Magazine - December 2022 - 52
IEEE Robotics & Automation Magazine - December 2022 - 53
IEEE Robotics & Automation Magazine - December 2022 - 54
IEEE Robotics & Automation Magazine - December 2022 - 55
IEEE Robotics & Automation Magazine - December 2022 - 56
IEEE Robotics & Automation Magazine - December 2022 - 57
IEEE Robotics & Automation Magazine - December 2022 - 58
IEEE Robotics & Automation Magazine - December 2022 - 59
IEEE Robotics & Automation Magazine - December 2022 - 60
IEEE Robotics & Automation Magazine - December 2022 - 61
IEEE Robotics & Automation Magazine - December 2022 - 62
IEEE Robotics & Automation Magazine - December 2022 - 63
IEEE Robotics & Automation Magazine - December 2022 - 64
IEEE Robotics & Automation Magazine - December 2022 - 65
IEEE Robotics & Automation Magazine - December 2022 - 66
IEEE Robotics & Automation Magazine - December 2022 - 67
IEEE Robotics & Automation Magazine - December 2022 - 68
IEEE Robotics & Automation Magazine - December 2022 - 69
IEEE Robotics & Automation Magazine - December 2022 - 70
IEEE Robotics & Automation Magazine - December 2022 - 71
IEEE Robotics & Automation Magazine - December 2022 - 72
IEEE Robotics & Automation Magazine - December 2022 - 73
IEEE Robotics & Automation Magazine - December 2022 - 74
IEEE Robotics & Automation Magazine - December 2022 - 75
IEEE Robotics & Automation Magazine - December 2022 - 76
IEEE Robotics & Automation Magazine - December 2022 - 77
IEEE Robotics & Automation Magazine - December 2022 - 78
IEEE Robotics & Automation Magazine - December 2022 - 79
IEEE Robotics & Automation Magazine - December 2022 - 80
IEEE Robotics & Automation Magazine - December 2022 - 81
IEEE Robotics & Automation Magazine - December 2022 - 82
IEEE Robotics & Automation Magazine - December 2022 - 83
IEEE Robotics & Automation Magazine - December 2022 - 84
IEEE Robotics & Automation Magazine - December 2022 - 85
IEEE Robotics & Automation Magazine - December 2022 - 86
IEEE Robotics & Automation Magazine - December 2022 - 87
IEEE Robotics & Automation Magazine - December 2022 - 88
IEEE Robotics & Automation Magazine - December 2022 - 89
IEEE Robotics & Automation Magazine - December 2022 - 90
IEEE Robotics & Automation Magazine - December 2022 - 91
IEEE Robotics & Automation Magazine - December 2022 - 92
IEEE Robotics & Automation Magazine - December 2022 - 93
IEEE Robotics & Automation Magazine - December 2022 - 94
IEEE Robotics & Automation Magazine - December 2022 - 95
IEEE Robotics & Automation Magazine - December 2022 - 96
IEEE Robotics & Automation Magazine - December 2022 - 97
IEEE Robotics & Automation Magazine - December 2022 - 98
IEEE Robotics & Automation Magazine - December 2022 - 99
IEEE Robotics & Automation Magazine - December 2022 - 100
IEEE Robotics & Automation Magazine - December 2022 - 101
IEEE Robotics & Automation Magazine - December 2022 - 102
IEEE Robotics & Automation Magazine - December 2022 - 103
IEEE Robotics & Automation Magazine - December 2022 - 104
IEEE Robotics & Automation Magazine - December 2022 - 105
IEEE Robotics & Automation Magazine - December 2022 - 106
IEEE Robotics & Automation Magazine - December 2022 - 107
IEEE Robotics & Automation Magazine - December 2022 - 108
IEEE Robotics & Automation Magazine - December 2022 - 109
IEEE Robotics & Automation Magazine - December 2022 - 110
IEEE Robotics & Automation Magazine - December 2022 - 111
IEEE Robotics & Automation Magazine - December 2022 - 112
IEEE Robotics & Automation Magazine - December 2022 - 113
IEEE Robotics & Automation Magazine - December 2022 - 114
IEEE Robotics & Automation Magazine - December 2022 - 115
IEEE Robotics & Automation Magazine - December 2022 - 116
IEEE Robotics & Automation Magazine - December 2022 - 117
IEEE Robotics & Automation Magazine - December 2022 - 118
IEEE Robotics & Automation Magazine - December 2022 - 119
IEEE Robotics & Automation Magazine - December 2022 - 120
IEEE Robotics & Automation Magazine - December 2022 - 121
IEEE Robotics & Automation Magazine - December 2022 - 122
IEEE Robotics & Automation Magazine - December 2022 - 123
IEEE Robotics & Automation Magazine - December 2022 - 124
IEEE Robotics & Automation Magazine - December 2022 - 125
IEEE Robotics & Automation Magazine - December 2022 - 126
IEEE Robotics & Automation Magazine - December 2022 - 127
IEEE Robotics & Automation Magazine - December 2022 - 128
IEEE Robotics & Automation Magazine - December 2022 - 129
IEEE Robotics & Automation Magazine - December 2022 - 130
IEEE Robotics & Automation Magazine - December 2022 - 131
IEEE Robotics & Automation Magazine - December 2022 - 132
IEEE Robotics & Automation Magazine - December 2022 - 133
IEEE Robotics & Automation Magazine - December 2022 - 134
IEEE Robotics & Automation Magazine - December 2022 - 135
IEEE Robotics & Automation Magazine - December 2022 - 136
IEEE Robotics & Automation Magazine - December 2022 - 137
IEEE Robotics & Automation Magazine - December 2022 - 138
IEEE Robotics & Automation Magazine - December 2022 - 139
IEEE Robotics & Automation Magazine - December 2022 - 140
IEEE Robotics & Automation Magazine - December 2022 - 141
IEEE Robotics & Automation Magazine - December 2022 - 142
IEEE Robotics & Automation Magazine - December 2022 - 143
IEEE Robotics & Automation Magazine - December 2022 - 144
IEEE Robotics & Automation Magazine - December 2022 - 145
IEEE Robotics & Automation Magazine - December 2022 - 146
IEEE Robotics & Automation Magazine - December 2022 - 147
IEEE Robotics & Automation Magazine - December 2022 - 148
IEEE Robotics & Automation Magazine - December 2022 - 149
IEEE Robotics & Automation Magazine - December 2022 - 150
IEEE Robotics & Automation Magazine - December 2022 - 151
IEEE Robotics & Automation Magazine - December 2022 - 152
IEEE Robotics & Automation Magazine - December 2022 - 153
IEEE Robotics & Automation Magazine - December 2022 - 154
IEEE Robotics & Automation Magazine - December 2022 - 155
IEEE Robotics & Automation Magazine - December 2022 - 156
IEEE Robotics & Automation Magazine - December 2022 - 157
IEEE Robotics & Automation Magazine - December 2022 - 158
IEEE Robotics & Automation Magazine - December 2022 - 159
IEEE Robotics & Automation Magazine - December 2022 - 160
IEEE Robotics & Automation Magazine - December 2022 - 161
IEEE Robotics & Automation Magazine - December 2022 - 162
IEEE Robotics & Automation Magazine - December 2022 - 163
IEEE Robotics & Automation Magazine - December 2022 - 164
IEEE Robotics & Automation Magazine - December 2022 - Cover3
IEEE Robotics & Automation Magazine - December 2022 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com