Simultaneous localization and map building for a team of cooperating robots: a set membership approach

Author

Marco, Mauro Di ; Garulli, Andrea ; Giannitrapani, Antonio ; Vicino, Antonio

Author_Institution

Dipt. di Ingegneria dell´´Informazione, Univ. di Siena, Italy

Volume

19

Issue

2

fYear

2003

fDate

4/1/2003 12:00:00 AM

Firstpage

238

Lastpage

249

Abstract

The problem of simultaneous localization and map building for a team of cooperating robots moving in an unknown environment is addressed. The robots have to estimate the position of distinguishable static landmarks, and then localize themselves with respect to other robots and landmarks, exploiting distance and angle measurements. A novel set theoretic approach to this problem is presented. The proposed localization algorithm provides position estimates and guaranteed uncertainty regions for all robots and landmarks in the environment.

Keywords

angular measurement; artificial intelligence; distance measurement; mobile robots; angle measurements; cooperating robots; distance measurements; distinguishable static landmarks; map building; membership approach; position estimates; set theoretic approach; simultaneous localization; unknown environment; Autonomous agents; Extraterrestrial measurements; Goniometers; Intelligent robots; Mobile robots; Multirobot systems; Position measurement; Robot sensing systems; Simultaneous localization and mapping; Vehicle driving;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2003.808849

Filename

1192152