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Collaborative Multi-Robot Localization
- Publisher
- Springer Journals
- Copyright
- Copyright © 2004 by Kluwer Academic Publishers
- Subject
- Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
- ISSN
- 0929-5593
- eISSN
- 1573-7527
- DOI
- 10.1023/B:AURO.0000032936.24187.41
- Publisher site
- See Article on Publisher Site
Abstract
The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of vision-based range information of environmental features with changes in elevation profile across the terrain. The result is a terrain matrix from which a metric map is then generated. The proposed algorithms are implemented using field data obtained from a team of robots traversing an uneven outdoor terrain.
Journal
Autonomous Robots – Springer Journals
Published: Oct 18, 2004