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Authors: Valguima Odakura and Anna Helena Reali Costa

Affiliation: Escola Politécnica da Universidade de São Paulo, Brazil

Keyword(s): autonomous systems, mobile robots, multi-robot localization, cooperative multi-robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 88-93. DOI: 10.5220/0001190600880093

@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 3: ICINCO},
year={2005},
pages={88-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001190600880093},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - COOPERATIVE MULTI-ROBOT LOCALIZATION: USING COMMUNICATION TO REDUCE LOCALIZATION ERROR
SN - 972-8865-30-9
IS - 2184-2809
AU - Odakura, V.
AU - Helena Reali Costa, A.
PY - 2005
SP - 88
EP - 93
DO - 10.5220/0001190600880093
PB - SciTePress