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ICRA
1994
IEEE

Cooperative Positioning with Multiple Robots

13 years 7 months ago
Cooperative Positioning with Multiple Robots
A number of positioning identification techniques have been used for mobile robots. Dead reckoning is a popular method, but is not reliable when a robot travels long distances or over an uneven surface because of variations in wheel diameter and wheel slippage. The landmark method, which estimates the current position relative to landmarks, cannot be used in an uncharted environment. We propose a new method called "Cooperative Positioning with Multiple Robots." For cooperative positioning, we divide the robots into two groups, A and B. One group, say A, remains stationary and acts as a landmark while group B moves. The moving group B then stops and acts as a landmark for group A. This "dance" is repeated until the target robot position are reached. Cooperative positioning has a far lower accumulated positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, this method has inherent landmarks and therefor...
Ryo Kurazume, Shigemi Nagata
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1994
Where ICRA
Authors Ryo Kurazume, Shigemi Nagata
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