English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT

Released

Journal Article

Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements

MPS-Authors
/persons/resource/persons83915

Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

External Resource
Fulltext (public)
There are no public fulltexts stored in PuRe
Supplementary Material (public)
There is no public supplementary material available
Citation

Franchi, A., Oriolo, G., & Stegagno, P. (2013). Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements. International Journal of Robotics Research, 32(11), 1302-1322. doi:10.1177/0278364913495425.


Cite as: http://hdl.handle.net/11858/00-001M-0000-001A-14BE-1
Abstract
We propose a decentralized method to perform mutual localization in multi-robot systems using anonymous relative measurements, i.e. measurements that do not include the identity of the measured robot. This is a challenging and practically relevant operating scenario that has received little attention in the literature. Our mutual localization algorithm includes two main components: a probabilistic multiple registration stage, which provides all data associations that are consistent with the relative robot measurements and the current belief, and a dynamic filtering stage, which incorporates odometric data into the estimation process. The design of the proposed method proceeds from a detailed formal analysis of the implications of anonymity on the mutual localization problem. Experimental results on a team of differential-drive robots illustrate the effectiveness of the approach, and in particular its robustness against false positives and negatives that may affect the robot measurement process. We also provide an experimental comparison that shows how the proposed method outperforms more classical approaches that may be designed building on existing techniques. The source code of the proposed method is available within the MLAM ROS stack.