Multi-Robot Cooperative Localization: A Study of Trade-offs Between Efficiency and Accuracy

Ioannis Rekleitis, Gregory Dudek, Evangelos Milios
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2002. [188 citations]

Abstract

Abstract: This paper examines the tradeoffs between different classes of sensing strategy and motion control strategy in the context of terrain mapping multiple robots. We consider a larger group of robots that 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. Here 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.

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BibTeX

@inproceedings{Rekleitis2002c,
  author       = {Ioannis Rekleitis and Gregory Dudek and Evangelos Milios},
  title        = {Multi-Robot Cooperative Localization: A Study of
		 Trade-offs Between Efficiency and Accuracy},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots
		 and Systems (IROS)},
  pages        = {2690-2695},
  year	       = {2002},
  address      = {Lausanne, Switzerland},
  month        = {Oct.},
  organization = {IEEE/RSJ}
}

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Mon Sep 16 06:21:02 EDT 2019