A visibility information for multi-robot localization

This paper proposes a set-membership method based on interval analysis to solve the pose tracking problem for a team of robots. The originality of this approach is to consider only weak sensor data: the visibility between two robots. The paper demonstrates that with this poor information, without us...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1426 - 1431
Main Authors Guyonneau, Remy, Lagrange, Sebastien, Hardouin, Laurent
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
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Robot sensing systems
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Summary:This paper proposes a set-membership method based on interval analysis to solve the pose tracking problem for a team of robots. The originality of this approach is to consider only weak sensor data: the visibility between two robots. The paper demonstrates that with this poor information, without using bearing or range sensors, a localization is possible. By using this boolean information (two robots see each other or not), the objective is to compensate the odometry errors and be able to localize in an indoor environment all the robots of the team, in a guaranteed way. The environment is supposed to be defined by two sets, an inner and an outer characterizations. This paper mainly presents the visibility theory used to develop the method. Simulated results allow to evaluate the efficiency and the limits of the proposed algorithm.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696536