COOPERATIVE MULTI-ROBOT LOCALIZATION: USING COMMUNICATION TO REDUCE LOCALIZATION ERROR

Valguima Odakura, Anna Helena Reali Costa

Abstract

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 localization, that was originally designed to a single robot. A detection model can be incorporated in order to accommodate multi-robot cooperation in Markov localization. In this model, two robots exchange their pose beliefs whenever one robot detects another. We propose a novel detection model in that all robots in the group can benefit from a meeting of two robots through detection propagation. The technique has been implemented and tested in simulated environments. Experiments illustrate improvements in localization accuracy when compared with a previous multi-robot localization approach.

References

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Paper Citation


in Harvard Style

Odakura V. and Helena Reali Costa A. (2005). COOPERATIVE MULTI-ROBOT LOCALIZATION: USING COMMUNICATION TO REDUCE LOCALIZATION ERROR . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 88-93. DOI: 10.5220/0001190600880093


in Bibtex Style

@conference{icinco05,
author={Valguima Odakura and Anna Helena Reali Costa},
title={COOPERATIVE MULTI-ROBOT LOCALIZATION: USING COMMUNICATION TO REDUCE LOCALIZATION ERROR},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={88-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001190600880093},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - COOPERATIVE MULTI-ROBOT LOCALIZATION: USING COMMUNICATION TO REDUCE LOCALIZATION ERROR
SN - 972-8865-30-9
AU - Odakura V.
AU - Helena Reali Costa A.
PY - 2005
SP - 88
EP - 93
DO - 10.5220/0001190600880093