Multi-robot cooperative localization with optimally fused information of odometer and GPS

ICCAS 2007 - International Conference on Control, Automation and Systems

Volumn , Issue , 2007, Pages 601-605

  Jo, Kyoung Hwan ^a   Lee, Jihong ^a  

^a Chungnam National University   (South Korea)

Author keywords

Cooperative localization; Distributed multiple robots; Mobile robot; Multiple robot system

Indexed keywords

GLOBAL POSITIONING SYSTEM; INDUSTRIAL ROBOTS; MOBILE ROBOTS; ROBOT APPLICATIONS; ROBOTICS; SATELLITE NAVIGATION AIDS;

COOPERATIVE LOCALIZATION; DATA FUSION TECHNIQUES; DISTRIBUTED MULTIPLE ROBOTS; GPS DATUMS; LOCALIZATION ACCURACIES; LOCALIZATION PERFORMANCES; LOCALIZATION PROBLEMS; MOBILE ROBOT LOCALIZATIONS; MULTIPLE ROBOT SYSTEM; OF SENSORS; OPTIMAL WEIGHTS;

ROBOTS;

EID: 48349083469     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCAS.2007.4407094     Document Type: Conference Paper

References (19)

1. F. Chenavier and J. Crowley, "Position estimation for a mobile robot using vision and odometry," in Proc. 1992 IEEE Int. Conf. Robotics and Automation, pp. 2588-2593, May 12-14, 1992.
2. Gourley and M. Trivedi, "Sensor based obstacle avoidance and mapping for fast mobile robots," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1306-1311, May 8-13, 1994.
3. J. Borenstein and L. Feng, "Measurement and correction of systematic odometry errors in mobile robots," IEEE Trans. Robotics and Automation, vol. 12, pp. 869-880, Dec. 1996.
4. S. I. Roumeliotis and G. A. Bekey, "Collective localization: a distributed Kalman filter approach to localization of groups of mobile robots," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 2958-2965, Apr. 24-28 2000.
5. F. Lu and E. Milios, "Robot pose estimation in unknown environments by matching 2d range scans," J. Intell. Robot Syst.: Theory and Application, vol. 18, no. 3, pp. 249-275, Mar. 1997.
6. L. E. Parker, "Current state of the art in distributed autonomous mobile robotics", in Proc. 5th int. symp. Distributed Autonomous Robotics Systems (DARS 2000), pp. 3-12, Knoxville, TN, Oct. 4-6 2000.
7. C. Ferrari, E. Pagello, J. Ota, and T. Arai, "Multirobot motion coordination in space and time," Robotics and Autonomous Systems, vol. 25, no. 3/4, pp. 219-229, Nov. 1998.
8. Y. Arai, T. Fujii, H. Asama, H. Kaetsu, and I. Endo, "Realization of autonomous navigation in multirobot environment," in Proc. 1998 IEEE/RSJ Int. Conf. Intelligent Robots Systems, pp. 1999-2004, Oct. 13-17, 1998.
9. Y. Arai, T. Fujii, H. Asama, H. Kaetsu, and I. Endo, "Realization of autonomous navigation in multirobot environment," in Proc. 1998 IEEE/RSJ Int. Conf. Intelligent Robots Systems, pp. 1999-2004, Oct. 13-17, 1998.
10. S. I. Roumeliotis and G. A. Bekey, "Distributed multirobot localization," IEEE Trans. Robotics and Automation, vol. 18, pp. 780-795, Oct. 2002.
11. A. Howard, M. J. Mataric, and G. S. Sukhatme, "Putting the 'I' in 'team' : an ego-centric approach to cooperative localization," in proc. 2003 IEEE Int. Conf Robotics and Automation, pp. 868-874, Sep. 14-19, 2003.
12. J. R. Splezer and C. J. Taylor, "A bounded uncertainty approach to multi-robot localization," in Proc. 2003 IEEE Int. Conf Robotics and Automation, pp. 1258-1265, Oct. 2003.
13. T. Yoshida, A. Ohya, and S. Yuta, "Cooperative self-positioning system for multiple mobile robots," in Proc. 2003 IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 223-227, 2003.
14. A. I. Mourikis and S. I. Roumeliotis, "Performance analysis of multirobot cooperative localization," IEEE Trans. Robotics and Automation, vol. 22, pp. 666-681, Aug. 2006.
15. S. I. Roumeliotis and G. A. Bekey, "Collective localization: a distributed Kalman filter approach to localization of groups of mobile robots," in Proc. 2000 IEEE Int. Conf. Robotics and Automation, pp. 2958-2965, Apr. 24-28 2000.
16. J. Liu, K. Yuan, W. Zou, and Q. Yang, "Monte cairo multi-robot localization based on grid cells and characteristic particles," in Proc. 2005 IEEE/ASME Int. Conf Advanced Intelligent Mechatronics, 510-515, July 24-28, 2005.
17. I. Rekleitis, G. Dudek, and E. Milios, "Experiments in free space triangulation using cooperative localization," in Proc. 2003 IEEE/RSJ Int. Conf Intelligent Robots Systems, pp 1777-1782, Oct. 2003.
18. Indoor GPS, (retrieved in Jan. 2006). [Web]: http://www.ninetv.co.kr.
19. G. Harkleroad, W. Tang, N. Johnson, "Estimation of error correlation distance for differential GPS operation," Position Location and Navigation Symposium, 1990. Record. 'The 1990's - A Decade of Excellence in the Navigation Sciences '. IEEE PLANS '90. IEEE, pp. 378-382, May 1990.