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ICRA
2010
IEEE

Localization of probabilistic robot formations in SLAM

9 years 7 months ago
Localization of probabilistic robot formations in SLAM
This paper presents an EKF-based approach to the problem of robot formation pose tracking in SLAM when a previously built feature-based stochastic map of a navigation area is available. We show how a direct implementation of the EKF algorithm leads to inconsistency in the estimated localization. We justify the origin of the anomalous behaviour of the filter in the time-correlated nature of the measurement noise sequence. A novel solution based on the measurement differencing technique is proposed to drive the solution of the EKF towards consistency. Both simulation and real experiments with a 3-robot triangular-shaped formation are reported.
Maria Teresa Lazaro, José A. Castellanos
Added 04 Mar 2011
Updated 04 Mar 2011
Type Journal
Year 2010
Where ICRA
Authors Maria Teresa Lazaro, José A. Castellanos
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