Collaborative Multi-Robot Monte Carlo Localization in Assistant Robots
نویسندگان
چکیده
This paper presents an algorithm for collaborative mobile robot localization based on probabilistic methods (Monte Carlo localization) used in assistant robots. When a root detects another in the same environment, a probabilistic method is used to synchronize each robot’s belief. As a result, the robots localize themselves faster and maintain higher accuracy. The technique has been implemented and tested using a virtual environment capable to simulate several robots and using two real mobile robots equipped with cameras and laser range-finders for detecting other robots. The result obtained in simulation and with real robots show improvements in localization speed and accuracy when compared to conventional single-robot localization.
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