Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication

This paper provides a fully decentralized algorithm for collaborative localization based on the extended Kalman filter. The major challenge in decentralized collaborative localization is to track inter-robot dependencies, which is particularly difficult when sustained synchronous communication betwe...

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Veröffentlicht in:	The International journal of robotics research 2018-09, Vol.37 (10), p.1152-1167
Hauptverfasser:	Luft, Lukas, Schubert, Tobias, Roumeliotis, Stergios I., Burgard, Wolfram
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collaboration Communication Extended Kalman filter Localization Mathematical models Multiple robots Robots
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