D. Fox, W. Burgard, H.Kruppa, and S. Thrun
Collaborative Multi-Robot
Localization
Proc. of the German
Conference on Artificial Intelligence (KI), Germany,
1999
Abstract
This paper presents a probabilistic algorithm for
collaborative mobile robot localization. Our approach uses a
sample-based version of Markov localization, capable of localizing
mobile robots in an any-time fashion. When teams of robots localize
themselves in the same environment, probabilistic methods are employed
to synchronize each robot's belief whenever one robot detects
another. As a result, the robots localize themselves faster, maintain
higher accuracy, and high-cost sensors are amortized across multiple
robot platforms. The paper also describes experimental results
obtained using two mobile robots, using computer vision and laser
range finding for detecting each other and estimating each other's
relative location. The results, obtained in an indoor office
environment, illustrate drastic improvements in localization speed and
accuracy when compared to conventional single-robot localization.
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Bibtex
@INPROCEEDINGS{Fox99Col,
AUTHOR
= {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
TITLE
= {Collaborative Multi-Robot Localization},
YEAR
= {1999},
BOOKTITLE = {Proc.~of the German
Conference on Artificial Intelligence (KI), Germany}
}