Cooperative localization based on visually shared objects

Authors:
Pedro U. Lima;Pedro Santos;Ricardo Oliveira;Aamir Ahmad;João Santos
Affiliations:
Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal and Universidad Carlos III de Madrid, Avda. Universidad, 30, Leganés, Spain;Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal;Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal;Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal;Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal
Venue:
RoboCup 2010
Year:
2011

Citing 3
Cited 0

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Abstract

In this paper we describe a cooperative localization algorithm based on a modification of the Monte Carlo Localization algorithm where, when a robot detects it is lost, particles are spread not uniformly in the state space, but rather according to the information on the location of an object whose distance and bearing is measured by the lost robot. The object location is provided by other robots of the same team using explicit (wireless) communication. Results of application of the method to a team of real robots are presented.