Complexity analysis and approximate solutions for two multiple-robot localization problems

We consider the localization problem for a system of mobile robots using inexpensive range sensors. Among many issues for multi-robot systems, two problems are identified and formally defined. The first problem is sensing ranges from all robots as quickly as possible while avoiding sensor cross-talk...

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Bibliographic Details
Published inIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 1; pp. 1052 - 1057 Vol.1
Main Authors Jinsuck Kim, Amato, N.M.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Computer science
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Mobile computing
Mobile robots
Navigation
Robot kinematics
Robot sensing systems
Robotics
Scheduling
Sensor systems
Surveillance
Uncertainty
Uncertain system
Multiagent system
Proximity detector
Moving robot
Crosstalk
Measurement sensor
NP complete problem
Distance measurement
Localization
Robotics
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Summary:We consider the localization problem for a system of mobile robots using inexpensive range sensors. Among many issues for multi-robot systems, two problems are identified and formally defined. The first problem is sensing ranges from all robots as quickly as possible while avoiding sensor cross-talk, and the second problem is to localize a multi-robot system using a minimal number of range sensings. We show that both these problems are NP-complete, and we propose an approximate method for the multi-robot localization problem that takes advantage of the robots pose uncertainty information. Simulation results show the effectiveness of our method for localizing multiple robots.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307289