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

  • 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")

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    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.

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    File URL: http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/wpaper/2009-01.pdf
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    Paper provided by Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza" in its series DIS Technical Reports with number 2009-01.

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    Length: 22 pages
    Date of creation: Jan 2009
    Date of revision:
    Handle: RePEc:aeg:wpaper:2009-01
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