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.
[206 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}
}
Fri Apr 16 06:21:02 EDT 2021