Distributed Range-based Localization for Swarm Robot Systems using Sensor-fusion Technique

Daisuke Inoue, Daisuke Murai, Yasuhiro Ikuta, Hiroaki Yoshida

Abstract

Herein, we present a localization method for swarm robot systems that relies solely on measured distances from surrounding robots. Using the sensor fusion technique, an exteroceptive estimation method based on the measured distance is dynamically coupled with a simple proprioceptive estimation that uses a robot’s own dynamical properties. Our method strictly preserves the locality of algorithm. The results of numerical simulations for several scenarios show that our proposed method is more accurate that conventional methods.

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Paper Citation


in Harvard Style

Inoue D., Murai D., Ikuta Y. and Yoshida H. (2019). Distributed Range-based Localization for Swarm Robot Systems using Sensor-fusion Technique.In Proceedings of the 8th International Conference on Sensor Networks - Volume 1: SENSORNETS, ISBN 978-989-758-355-1, pages 13-22. DOI: 10.5220/0007258800130022


in Bibtex Style

@conference{sensornets19,
author={Daisuke Inoue and Daisuke Murai and Yasuhiro Ikuta and Hiroaki Yoshida},
title={Distributed Range-based Localization for Swarm Robot Systems using Sensor-fusion Technique},
booktitle={Proceedings of the 8th International Conference on Sensor Networks - Volume 1: SENSORNETS,},
year={2019},
pages={13-22},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007258800130022},
isbn={978-989-758-355-1},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Sensor Networks - Volume 1: SENSORNETS,
TI - Distributed Range-based Localization for Swarm Robot Systems using Sensor-fusion Technique
SN - 978-989-758-355-1
AU - Inoue D.
AU - Murai D.
AU - Ikuta Y.
AU - Yoshida H.
PY - 2019
SP - 13
EP - 22
DO - 10.5220/0007258800130022