TRILATERATION LOCALIZATION FOR MULTI-ROBOT TEAMS

Paul M. Maxim, Suranga Hettiarachchi, William M. Spears, Diana F. Spears, Jerry Hamann, Thomas Kunkel, Caleb Speiser

2008

Abstract

The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization, which is fully distributed, inexpensive, and scalable (Heil, 2004). Our prior research (Spears et. al, 2006) focused on maintaining multi-robot formations indoors using trilateration. This paper pushes the limits of our trilateration technology by testing formations of robots in an outdoor setting at larger inter-robot distances and higher speeds.

References

  1. Balch, T., Hybinette, M.: Social potentials for scalable multirobot formations. In: IEEE Transactions on Robotics and Automation. Volume 1. (2000) 73-80
  2. Fax, J., Murray, R.: Information flow and cooperative control of vehicle formations. IEEE Transactions on Automatic Control 49 (2004) 1465-1476
  3. Fierro, R., Song, P., Das, A., Kumar, V.: Cooperative control of robot formations. In Murphey, R., Pardalos, P., eds.: Cooperative Control and Optimization. Volume 66., Hingham, MA, Kluwer Academic Press (2002) 73-93
  4. Brogan, D., Hodgins, J.: Group behaviors for systems with significant dynamics. Autonomous Robots 4 (1997) 137-153
  5. Spears, W., Spears, D., Hamann, J., Heil, R.: Distributed, physics-based control of swarms of vehicles. Autonomous Robots 17(2-3) (2004)
  6. Borenstein, J., Everett, H., Feng, L.: Where am I? Sensors and Methods for Mobile Robot Positioning. University of Michigan (1996)
  7. Thomas, F., Ros, L.: Revisiting trilateration for robot localization. IEEE Transactions on Robotics 21(1) (2005) 93-101
  8. Peasgood, M., Clark, C., McPhee, J. Localization of multiple robots with simple sensors. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05). (2005) 671-676
  9. MacArthur, D.: Design and implementation of an ultrasonic position system for multiple vehicle control. Master's thesis, University of Florida (2003)
  10. Nissanka, B., P.: The cricket indoor location system. Doctoral thesis, Massachusetts Institute of Technology, Cambridge, MA (2005)
  11. Navarro-Serment, L., Paredis, C., Khosla, P.: A beacon system for the localization of distributed robotic teams. In: International Conference on Field and Service Robots, Pittsburgh, PA (1999) 232-237
  12. Rothermich, J., Ecemis, I., Gaudiano, P.: Distributed localization and mapping with a robotic swarm. In S¸ahin, E., Spears, W., eds.: Swarm Robotics, Springer-Ve rlag (2004) 59-71
  13. Payton, D., Estkowski, R., Howard, M.: Pheromone robotics and the logic of virtual pheromones. In S¸ahin, E., Spears, W., eds.: Swarm Robotics, SpringerVerlag (2004) 46-58
  14. Spears, W., Hamann, J., Maxim, P., Kunkel, T., Heil, R., Zarzhitsky, D., Spears, D., Karlsson, C. Where are you? In S¸ahin, E., Spears, W., eds.: Swarm Robotics, Springer-Verlag (2006)
  15. Heil, R.: A trilaterative localization system for small mobile robots in swarms. Master's thesis, University of Wyoming, Laramie, WY (2004)
  16. Zarzhitsky, D., Spears, D., Spears, W.: Distributed robotics approach to chemical plume tracing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05). (2005) 4034-4039
  17. Hettiarachchi, S.: Distributed evolution for swarm robotics. Ph.D. thesis, University of Wyoming, Laramie, WY (2007)
Download


Paper Citation


in Harvard Style

M. Maxim P., Hettiarachchi S., M. Spears W., F. Spears D., Hamann J., Kunkel T. and Speiser C. (2008). TRILATERATION LOCALIZATION FOR MULTI-ROBOT TEAMS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: MARS, (ICINCO 2008) ISBN 978-989-8111-31-9, pages 301-307. DOI: 10.5220/0001508803010307


in Bibtex Style

@conference{mars08,
author={Paul M. Maxim and Suranga Hettiarachchi and William M. Spears and Diana F. Spears and Jerry Hamann and Thomas Kunkel and Caleb Speiser},
title={TRILATERATION LOCALIZATION FOR MULTI-ROBOT TEAMS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: MARS, (ICINCO 2008)},
year={2008},
pages={301-307},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001508803010307},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: MARS, (ICINCO 2008)
TI - TRILATERATION LOCALIZATION FOR MULTI-ROBOT TEAMS
SN - 978-989-8111-31-9
AU - M. Maxim P.
AU - Hettiarachchi S.
AU - M. Spears W.
AU - F. Spears D.
AU - Hamann J.
AU - Kunkel T.
AU - Speiser C.
PY - 2008
SP - 301
EP - 307
DO - 10.5220/0001508803010307