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On the Positional Uncertainty of Multi-Robot Cooperative Localization

Authors: Ioannis Rekleitis, Gregory Dudek, Evangelos~E. Milios

Abstract: This paper deals with terrain mapping and position estimation using multiple robots. Here we will discuss work where a larger group of robots 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 and 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.

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@inproceedings{RekleitisMRSWorkshop2002a, author = {Ioannis Rekleitis and Gregory Dudek and Evangelos~E. Milios}, booktitle = {Multi-Robot Systems Workshop, Naval Research Laboratory}, title = {On the Positional Uncertainty of Multi-Robot Cooperative Localization}, year = {2002}, volume = {}, number = {}, pages = {}, keywords = {}, doi = {} }