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  Mutual localization in a multi-robot system with anonymous relative position measures

Franchi, A., Oriolo, G., & Stegagno, P. (2009). Mutual localization in a multi-robot system with anonymous relative position measures. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3974-3980). Piscataway, NJ, USA: IEEE Service Center.

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 Creators:
Franchi, A1, Author           
Oriolo, G, Author
Stegagno, P1, Author           
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1External Organizations, ou_persistent22              

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 Abstract: We address the mutual localization problem for a multi-robot system, under the assumption that each robot is equipped with a sensor that provides a measure of the relative position of nearby robots without their identity. Anonymity generates a combinatorial ambiguity in the inversion of the measure equations, leading to a multiplicity of admissible relative pose hypotheses. To solve the problem, we propose a two-stage localization system based on MultiReg, an innovative algorithm that computes on-line all the possible relative pose hypotheses, whose output is processed by a data associator and a multiple EKF to isolate and refine the best estimates. The performance of the mutual localization system is analyzed through experiments, proving the effectiveness of the method and, in particular, its robustness with respect to false positives (objects that look like robots) and false negatives (robots that are not detected) of the measure process.

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 Dates: 2009-10
 Publication Status: Issued
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2009.5354560
BibTex Citekey: 6412
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Title: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
Place of Event: St. Louis, MO, USA
Start-/End Date: 2009-10-10 - 2009-10-15

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Title: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3974 - 3980 Identifier: ISBN: 978-1-4244-3804-4