On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or #x201C;where to put your sensors and how to use them #x201D;

On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or #x201C;where to put your sensors and how to use them #x201D;. Mahoney, A. W., Bruns, T. L., Swaney, P. J., & Webster, R. J. In 2016 IEEE International Conference on Robotics and Automation (ICRA), pages 4472–4478, May, 2016.
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When designing continuum robots for applications that require sensing, designers are faced with the problems of deciding what sensors to use, where they should be placed, and how best to use the information they provide. In this paper, we describe how a differential representation of a continuum robot's kinematic equations that govern its states (e.g., shape) can be used to simultaneously address these problems under the guidance of statistical state estimation. We identify how state estimation and sensing-system design (i.e., sensor selection and placement) are inherently coupled problems, which leads us to formulate sensing-system design as an optimization problem governed by the results of statistical estimation. As a case-study, the methods described herein are used to design a magnetic sensing system for concentric-tube robots.

@inproceedings{mahoney_inseparable_2016,
	title = {On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or \#x201C;where to put your sensors and how to use them \#x201D;},
	doi = {10.1109/ICRA.2016.7487646},
	abstract = {When designing continuum robots for applications that require sensing, designers are faced with the problems of deciding what sensors to use, where they should be placed, and how best to use the information they provide. In this paper, we describe how a differential representation of a continuum robot's kinematic equations that govern its states (e.g., shape) can be used to simultaneously address these problems under the guidance of statistical state estimation. We identify how state estimation and sensing-system design (i.e., sensor selection and placement) are inherently coupled problems, which leads us to formulate sensing-system design as an optimization problem governed by the results of statistical estimation. As a case-study, the methods described herein are used to design a magnetic sensing system for concentric-tube robots.},
	booktitle = {2016 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
	author = {Mahoney, A. W. and Bruns, T. L. and Swaney, P. J. and Webster, R. J.},
	month = may,
	year = {2016},
	keywords = {Observability, Pneumatic systems, Robot kinematics, Robot sensing systems, Uncertainty, concentric-tube robots, continuum mechanics, continuum robot kinematic equations, continuum robots, differential representation, magnetic sensing system, magnetic sensors, optimization problem, robot kinematics, sensing-system design, sensor placement, sensor selection, state estimation, statistical analysis, statistical state estimation},
	pages = {4472--4478}
}

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