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Authors: Paul M. Maxim 1 ; Suranga Hettiarachchi 2 ; William M. Spears 1 ; Diana F. Spears 1 ; Jerry Hamann 1 ; Thomas Kunkel 1 and Caleb Speiser 1

Affiliations: 1 University of Wyoming, United States ; 2 Eastern Oregon University, United States

Keyword(s): Localization, trilateration, formations, distributed, outdoor.

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.

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Paper citation in several formats:
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 (ICINCO 2008) - Volume 2: MARS; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 301-307. DOI: 10.5220/0001508803010307

@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 (ICINCO 2008) - Volume 2: MARS},
year={2008},
pages={301-307},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001508803010307},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics (ICINCO 2008) - Volume 2: MARS
TI - TRILATERATION LOCALIZATION FOR MULTI-ROBOT TEAMS
SN - 978-989-8111-31-9
IS - 2184-2809
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
PB - SciTePress

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