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AROBOTS
2004

Propagation of Uncertainty in Cooperative Multirobot Localization: Analysis and Experimental Results

9 years 2 months ago
Propagation of Uncertainty in Cooperative Multirobot Localization: Analysis and Experimental Results
This paper examines the problem of cooperative localization for the case of large groups of mobile robots. A Kalman filter estimator is implemented and tested for this purpose. The focus of this paper is to examine the effect on localization accuracy of the number N of participating robots and the accuracy of the sensors employed. More specifically, we investigate the improvement in localization accuracy per additional robot as the size of the team increases. Furthermore, we provide an analytical expression for the upper bound on the positioning uncertainty increase rate for a team of N robots as a function of N, the odometric and orientation uncertainty for the robots, and the accuracy of a robot tracker measuring relative positions between pairs of robots. The analytical results derived in this paper are validated both in simulation and experimentally for different test cases.
Stergios I. Roumeliotis, Ioannis M. Rekleitis
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2004
Where AROBOTS
Authors Stergios I. Roumeliotis, Ioannis M. Rekleitis
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