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ICRA
2005
IEEE

Multi-Robot Localization Using Relative Observations

10 years 3 months ago
Multi-Robot Localization Using Relative Observations
Abstract— In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive and exteroceptive data are fused with an Extended Kalman Filter. We derive the equations for this estimator for the most general relative observation between two robots. Then we consider three special cases of relative observations and we present the structure of the filter for each case. Finally, we study the performance of the approach through many accurate simulations.
Agostino Martinelli, Frederic Pont, Roland Siegwar
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Agostino Martinelli, Frederic Pont, Roland Siegwart
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