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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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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C284-F Version Permalink: http://hdl.handle.net/21.11116/0000-0002-E4F6-7
Genre: Conference Paper

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 Creators:
Franchi, A1, Author              
Oriolo, G, Author
Stegagno, P1, Author              
Affiliations:
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: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/IROS.2009.5354560
BibTex Citekey: 6412
 Degree: -

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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
 Creator(s):
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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