IDEAS home Printed from https://ideas.repec.org/p/aeg/wpaper/2009-01.html
   My bibliography  Save this paper

Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures

Author

Listed:
  • Antonio Franchi

    (Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza")

  • Giuseppe Oriolo

    (Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza")

  • Paolo Stegagno

    (Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza")

Abstract

In this paper we formulate and solve the mutual localization problem for a multi-robot system under the assumption of anonymous relative position measures. The anonymity hypothesis can cause a combinatorial ambiguity in the inversion of the measure equation giving more than one possible solution to the problem. We propose MultiReg, an innovative algorithm aimed at obtaining sets of possible relative pose hypotheses, whose output is processed by a data associator and a multiple EKF to select the best hypothesis. We study the performance of the developed localization system using both simulations and real robot experiments.

Suggested Citation

  • Antonio Franchi & Giuseppe Oriolo & Paolo Stegagno, 2009. "Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures," DIS Technical Reports 2009-01, Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza".
    • Handle: RePEc:aeg:wpaper:2009-01
    as

    Download full text from publisher

    File URL: http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/2009-01.pdf
    File Function: First version, 1996
    Download Restriction: no
    File URL: http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/wpaper/2009-01.pdf
    File Function: Revised version, 2009
    Download Restriction: no
    ---><---

    More about this item

    Keywords

    multi-robot systems; mutual localization; multiple registration;
    All these keywords.

    Lists

    This item is featured on the following reading lists, Wikipedia, or ReplicationWiki pages:
    1. Industrial Sociology (FCT-UNL)

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:aeg:wpaper:2009-01. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Antonietta Angelica Zucconi (email available below). General contact details of provider: https://edirc.repec.org/data/dirosit.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.