Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF

Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF

Recently, multi-robot systems are emerging in various industries. The multi-robot systems have several advantages in comparison with a single-robot system. The task of single-robot system is limited, because a bigger robot is required to perform more multiple functions. However, multi-robot systems can distribute the functions to each robot. The localization problem is essential for realization...

Cooperative multi-robot localization: using communication to reduce localization error

This paper presents a statistical algorithm for cooperative multi-robot localization based on a propagating detection model. The problem of multi-robot localization consists of localizing each robot in a group within the same environment, when robots share information to improve localization accuracy. Our approach is based on a well-known probabilistic localization approach, the Markov localiza...

Cooperative Global Localization in Multi-robot System

With the development of robotic technology, the application areas of robots have been greatly widened. The robots may serve as assistants (Elena et al., 2004), rescuers (Robert & Arvin, 2003) and explorers (Schenker et al., 2003). In many cases a multi-robot system has to be used, since many tasks cannot be completed with a single robot and multi-robot system can finish the tasks much more effi...

Mutual localization in multi-robot systems using anonymous relative measurements

We propose a decentralized method to perform mutual localization in multi-robot systems using anonymous relative measurements, i.e., measurements that do not include the identity of the measured robot. This is a challenging and practically relevant operating scenario that has received little attention in the literature. Our mutual localization algorithm includes two main components: a probabili...

Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors