Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
An Experimental Study of a Cooperative Positioning System
Autonomous Robots
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Autonomous Robots
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Monte Carlo Localization with Mixture Proposal Distribution
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Multi-robot exploration of an unknown environment, efficiently reducing the odometry error
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Navigation strategies for cooperative localization based on a particle-filter approach
Integrated Computer-Aided Engineering
Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach
Annals of Mathematics and Artificial Intelligence
Consistent cooperative localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A fitness-sharing based genetic algorithm for collaborative multi robot localization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Motion in ambiguity: Coordinated active global localization for multiple robots
Robotics and Autonomous Systems
IEEE Transactions on Robotics
Deterministic robot-network localization is hard
IEEE Transactions on Robotics
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Evaluating the effect of robot group size on relative localisation precision
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Individual localization and tracking in multi-robot settings with dynamic landmarks
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Journal of Intelligent and Robotic Systems
A “thermodynamic” approach to multi-robot cooperative localization
Theoretical Computer Science
Robotics and Autonomous Systems
A "Thermodynamic" approach to multi-robot cooperative localization with noisy sensors
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
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This paper examines the problem of cooperative localization for the case of large groups of mobile robots. A Kalman filter estimator is implemented and tested for this purpose. The focus of this paper is to examine the effect on localization accuracy of the number N of participating robots and the accuracy of the sensors employed. More specifically, we investigate the improvement in localization accuracy per additional robot as the size of the team increases. Furthermore, we provide an analytical expression for the upper bound on the positioning uncertainty increase rate for a team of N robots as a function of N, the odometric and orientation uncertainty for the robots, and the accuracy of a robot tracker measuring relative positions between pairs of robots. The analytical results derived in this paper are validated both in simulation and experimentally for different test cases.