Heather Peng

Papers

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About

Dr. Heather Peng is a leading researcher in mobile robotics, with a primary focus on autonomous navigation and sensor fusion for wheeled mobile robots. Her most cited work, "IRobot self-localization using EKF" (2016, 8 citations), makes a significant contribution to the field by addressing the critical challenge of self-localization—a cornerstone of reliable autonomous movement. In this paper, Dr. Peng demonstrates how to integrate data from diverse onboard sensors, including odometry, gyroscopes, laser rangefinders, and cameras, using an Extended Kalman Filter (EKF) to achieve robust and accurate position estimation. This work is notable for its practical, systems-level approach, showing how disparate sensory information can be fused to overcome the limitations of individual sensors, such as drift or noise. Her research directly impacts the development of more dependable and intelligent autonomous robots, with applications ranging from industrial automation to service robotics. Dr. Peng’s contributions are essential reading for students and researchers working on sensor integration and localization algorithms, offering a clear, applied methodology for enhancing robot autonomy in real-world environments.