Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
A review of statistical data association for motion correspondence
International Journal of Computer Vision
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Autonomous Robots
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
A Theory of Network Localization
IEEE Transactions on Mobile Computing
Mutual localization in multi-robot systems using anonymous relative measurements
International Journal of Robotics Research
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We address the mutual localization problem for a multi-robot system, under the assumption that each robot is equipped with a sensor that provides a measure of the relative position of nearby robots without their identity. Anonymity generates a combinatorial ambiguity in the inversion of the measure equations, leading to a multiplicity of admissible relative pose hypotheses. To solve the problem, we propose a two-stage localization system based on MultiReg, an innovative algorithm that computes on-line all the possible relative pose hypotheses, whose output is processed by a data associator and a multiple EKF to isolate and refine the best estimates. The performance of the mutual localization system is analyzed through experiments, proving the effectiveness of the method and, in particular, its robustness with respect to false positives (objects that look like robots) and false negatives (robots that are not detected) of the measure process.