SELF-LOCALIZATION OF A TEAM OF MOBILE ROBOTS BY MEANS OF COMMON COLORED TARGETS

Patricio Nebot, Enric Cervera

Abstract

Robot localization is one of the fundamental problems in mobile robotics. Using sensory information to localize the robot in its environment is the most fundamental problem that has to be solved in order to provide a mobile robot with autonomous capabilities, But, if robots can detect each other, there is the opportunity to do better. In this paper, it is explained how one robot, the leader, with a pan-tilt-zoom camera mounted on it can localize a team of robots. Camera images are used to detect other robots and to determine the relative position of the detected robot and its orientation with respect to the leader. Each robot carries a colored target that helps the leader to recognize it and calculate their position and orientation. Moreover, the zoom is used to enhance the perception and get a higher accuracy and a larger field of view.

References

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Paper Citation


in Harvard Style

Nebot P. and Cervera E. (2009). SELF-LOCALIZATION OF A TEAM OF MOBILE ROBOTS BY MEANS OF COMMON COLORED TARGETS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 274-279. DOI: 10.5220/0002212402740279


in Bibtex Style

@conference{icinco09,
author={Patricio Nebot and Enric Cervera},
title={SELF-LOCALIZATION OF A TEAM OF MOBILE ROBOTS BY MEANS OF COMMON COLORED TARGETS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={274-279},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002212402740279},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - SELF-LOCALIZATION OF A TEAM OF MOBILE ROBOTS BY MEANS OF COMMON COLORED TARGETS
SN - 978-989-674-000-9
AU - Nebot P.
AU - Cervera E.
PY - 2009
SP - 274
EP - 279
DO - 10.5220/0002212402740279