On the Positional Uncertainty of Multi-Robot Cooperative Localization

Ioannis Rekleitis, Gregory Dudek, Evangelos~E. Milios
In Multi-Robot Systems Workshop, Naval Research Laboratory 2002.


Abstract: This paper deals with terrain mapping and position estimation using multiple robots. Here we will discuss work where a larger group of robots can mutually estimate one another's position (in 2D or 3D) and uncertainty using a sample-based (particle filter) model of uncertainty. Our prior work has dealt with a pair of robots that estimate one another's position using visual tracking and coordinated motion and we extend these results and consider a richer set of sensing and motion options. In particular, we focus on issues related to confidence estimation for groups of more than two robots.



  author       = {Ioannis Rekleitis and Gregory Dudek and Evangelos~E.
  title        = {On the Positional Uncertainty of Multi-Robot Cooperative
  booktitle    = {Multi-Robot Systems Workshop, Naval Research Laboratory},
  month        = {Mar.},
  year	       = {2002},
  address      = {Washington, DC, USA}

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