Distributed Leader-Assistive Localization Method for a Heterogeneous Multirobotic System

This paper presents a distributed leader-assistive localization approach for a heterogeneous multirobotic system (MRS). The localization algorithm is formulated to estimate the position and orientation (pose) of a group of robots in a given reference coordinate frame (or global coordinate frame). It...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2015-07, Vol.12 (3), p.795-809
Hauptverfasser:	Wanasinghe, Thumeera R., Mann, George K. I., Gosine, Raymond G.
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Consistent state estimation Detection distributed state estimation Estimates Estimation finite-range sensing heterogeneous multirobotic systems Information processing Kalman filters leader-assistive navigation Localization multirobot localization Multirobots Navigation Position (location) Robot kinematics Robot sensing systems Robotics Robots Sensors Simulation
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