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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
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    File URL: http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/2009-01.pdf
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    File URL: http://www.dis.uniroma1.it/~bibdis/RePEc/aeg/wpaper/2009-01.pdf
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    More about this item

    Keywords

    multi-robot systems; mutual localization; multiple registration;

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    1. Industrial Sociology (FCT-UNL)

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