Real-time estimating spatial configuration between multiple robots by triangle and enumeration constraints

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only the relative configuration between robots but also an absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot