Real-Time Estimating Spatial Configuration between Multiple Robots by Triangle and Enumerartion Constraints

  • Authors:

  • Takayuki Nakamura;M. Oohara;Akihiro Ebina;Michita Imai;T. Ogasawara;Hiroshi Ishiguro

  • Affiliations:

  • -;-;-;-;-;-

  • Venue:
  • RoboCup 2000: Robot Soccer World Cup IV
  • Year:
  • 2001

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Abstract

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only relative configuration between robots but also absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot.