Distributed heterogeneous outdoor multi-robot localization
An extended Kalman filter (EKF)-based algorithm for the localization of a team of robots is described in this paper. The distributed EKF localization scheme is straightforward in that the individual robots maintain a pose estimate using EKFs that are local to every robot. We then show how these resu...
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| Veröffentlicht in: | Proceedings - IEEE International Conference on Robotics and Automation 2002, Vol.1, p.374-381 vol.1 |
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| container_end_page | 381 vol.1 |
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| container_title | Proceedings - IEEE International Conference on Robotics and Automation |
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| creator | Madhavan, R. Fregene, K. Parker, L.E. |
| description | An extended Kalman filter (EKF)-based algorithm for the localization of a team of robots is described in this paper. The distributed EKF localization scheme is straightforward in that the individual robots maintain a pose estimate using EKFs that are local to every robot. We then show how these results can be extended to perform heterogeneous cooperative localization in the absence or degradation of absolute sensors aboard the team members. The proposed algorithms are implemented using field data obtained from a team of ATRV-mini robots traversing on uneven outdoor terrain. |
| doi_str_mv | 10.1109/ROBOT.2002.1013389 |
| format | Article |
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| subjects | Centralized control Computer science Degradation Electronic mail Global Positioning System Kalman filters Laboratories Mathematics Mobile robots Robot sensing systems |
| title | Distributed heterogeneous outdoor multi-robot localization |
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