{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T17:51:18Z","timestamp":1774893078702,"version":"3.50.1"},"reference-count":28,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4364,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper presents internal<jats:italic>position error correction<\/jats:italic>(IPEC)\u2014a new method for accurate and reliable dead\u2010reckoning with mobile robots. The IPEC method has been implemented on our recently developed<jats:italic>multi\u2010degree\u2010of\u2010freedom<\/jats:italic>(MDOF) mobile platform, a vehicle in which two differential\u2010drive mobile robots (called trucks) are physically connected through a<jats:italic>compliant linkage.<\/jats:italic>In addition to its four wheel encoders, the MDOF platform has one linear and two rotary<jats:italic>internal<\/jats:italic>encoders, which allow measurement of the relative distance and bearing between the two trucks. During operation, both trucks perform conventional dead\u2010reckoning with their wheel encoders. But, in addition, the IPEC method uses information from the internal encoders to detect and correct dead\u2010reckoning errors as soon as they occur.<\/jats:p><jats:p>Our system, called<jats:italic>compliant linkage autonomous platform with position error recovery<\/jats:italic>(CLAPPER), requires neither external references (such as navigation beacons, artificial landmarks, known floorplans, or satellite signals), nor inertial navigation aids (such as accelerometers or gyros). Nonetheless, the experimental results included in this article show one to two orders of magnitude better positioning accuracy than systems based on conventional dead\u2010reckoning. The CLAPPER corrects not only systematic errors, such as different wheel diameters, but also non\u2010systematic errors, such as those caused by floor roughness, bumps, or cracks in the floor.<\/jats:p><jats:p>These features are made possible by exploiting the new<jats:italic>growth\u2010rate concept<\/jats:italic>for dead\u2010reckoning errors that is introduced in this article for the first time. The growth\u2010rate concept distinguishes between certain dead\u2010reckoning errors that develop slowly and other dead\u2010reckoning errors that develop quickly. Based on this concept, truck A frequently measures a property with<jats:italic>slow\u2010growing<\/jats:italic>error characteristics on reference truck B (thus admitting a small error) to detect a<jats:italic>fast\u2010growing<\/jats:italic>error on truck A (thus correcting a large error), and vice versa. \u00a9<jats:italic>1995 John Wiley &amp; Sons, Inc.<\/jats:italic><\/jats:p>","DOI":"10.1002\/rob.4620120405","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:04:49Z","timestamp":1183745089000},"page":"257-273","source":"Crossref","is-referenced-by-count":29,"title":["Intemal correction of dead\u2010reckoning errors with a dual\u2010drive compliant linkage mobil robot"],"prefix":"10.1002","volume":"12","author":[{"given":"Johann","family":"Borenstein","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143840"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.1987.350916"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"R.KurazumeandS.Nagata \u201cCooperative positioning with multiple robots \u201dProc. 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