Title :
Reducing sensitivity to localization error through local search
Author :
Anderson, Monica ; Papanikolopoulos, Nikolaos
Author_Institution :
Univ. of Alabama, Tuscaloosa
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
Many researchers study the search of unknown areas with teams of cooperating robots. Robot cooperation often relies upon shared representations built from shared information. When robots share information, they inadvertently share the error associated with that information. In this research, we realistically assume that all position-based data has some amount of localization error. We model the propagation of this error in cooperative search. We conjecture that propagation of error differs based on whether search targets are shared or locally discovered. Search errors due to inaccurate position estimates are quantified and compared in both approaches via simulations.
Keywords :
cooperative systems; multi-robot systems; position control; cooperative search; error propagation; local search; localization error; multirobot search; position estimation; robot cooperation; search error; Collaboration; Instruments; Intelligent robots; Notice of Violation; Orbital robotics; RFID tags; Robot kinematics; Robot sensing systems; Simultaneous localization and mapping; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399333