A "Thermodynamic" approach to multi-robot cooperative localization with noisy sensors

Authors:
Yotam Elor;Alfred M. Bruckstein
Affiliations:
Department of Computer Science and the Goldstein UAV and Satellite Center, Technion, Haifa, Israel;Department of Computer Science and the Goldstein UAV and Satellite Center, Technion, Haifa, Israel
Venue:
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
Year:
2012

Citing 4
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Abstract

In a previous paper [1], we proposed a new approach to the simultaneous cooperative localization of a very large group of simple robots capable of performing dead-reckoning and sensing the relative position of nearby robots. The idea behind the proposed averaging process is the following: every time two robots meet, they simply average their location estimates. This paper extends the results of [1] by considering noisy relative location measurements and by presenting a novel analysis based on the Well Mixing Movement Pattern assumption. The results of this paper are more precise than what was previously reported. Nevertheless, when considering the limit of a large group of robots, and after a long "stabilization" time, the final results turn out to be identical.