Authors: Ioannis Rekleitis, Gregory Dudek, Evangelos Milios
Abstract: This paper examines the tradeoffs between different classes of sensing strategy and motion control strategy in the context of terrain mapping multiple robots. We consider a larger group of robots that can mutually estimate one another’s position (in 2D or 3D) and uncertainty using a sample-based (particle filter) model of uncertainty. Our prior work has dealt with a pair of robots that estimate one another’s position using visual tracking and coordinated motion. Here we extend these results and consider a richer set of sensing and motion options. In particular, we focus on issues related to confidence estimation for groups of more than two robots.