Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Generalized Framework for Autonomous Calibration of Wheeled Mobile
  Robots   Robotic calibration allows for the fusion of data from multiple sensors such
as odometers, cameras, etc., by providing appropriate transformational
relationships between the corresponding reference frames. For wheeled robots
equipped with exteroceptive sensors, calibration entails learning the motion
model of the sensor or the robot in terms of the odometric data, and must
generally be performed prior to performing tasks such as simultaneous
localization and mapping (SLAM). Within this context, the current trend is to
carry out simultaneous calibration of odometry and sensor without the use of
any additional hardware. Building upon the existing simultaneous calibration
algorithms, we put forth a generalized calibration framework that can not only
handle robots operating in 2D with arbitrary or unknown motion models but also
handle outliers in an automated manner. We first propose an algorithm based on
the alternating minimization framework applicable to two-wheel differential
drive. Subsequently, for arbitrary but known drive configurations we put forth
an iteratively re-weighted least squares methodology leveraging an intelligent
weighing scheme. Different from the existing works, these proposed algorithms
require no manual intervention and seamlessly handle outliers that arise due to
both systematic and non-systematic errors. Finally, we put forward a novel
Gaussian Process-based non-parametric approach for calibrating wheeled robots
with arbitrary or unknown drive configurations. Detailed experiments are
performed to demonstrate the accuracy, usefulness, and flexibility of the
proposed algorithms.

11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
13
The categories of this paper are: quant-ph
20
The categories of this paper are: acc-phys