Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures

Antonio Franchi (), Giuseppe Oriolo () and Paolo Stegagno ()
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Antonio Franchi: Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza"
Giuseppe Oriolo: Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza"
Paolo Stegagno: Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza"

No 2009-01, DIS Technical Reports from Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza"

Abstract: In this paper we formulate and solve the mutual localization problem for a multi-robot system under the assumption of anonymous relative position measures. The anonymity hypothesis can cause a combinatorial ambiguity in the inversion of the measure equation giving more than one possible solution to the problem. We propose MultiReg, an innovative algorithm aimed at obtaining sets of possible relative pose hypotheses, whose output is processed by a data associator and a multiple EKF to select the best hypothesis. We study the performance of the developed localization system using both simulations and real robot experiments.

Keywords: multi-robot systems; mutual localization; multiple registration (search for similar items in EconPapers)
Pages: 22 pages
Date: 2009-01
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http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/2009-01.pdf First version, 1996 (application/pdf)
http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/wpaper/2009-01.pdf Revised version, 2009 (application/pdf)

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