DocumentCode
414071
Title
Optimized motion strategies for cooperative localization of mobile robots
Author
Trawny, Nikolas ; Barfoot, Timothy
Author_Institution
Inst. for Flight Mechanics & Control, Stuttgart Univ., Germany
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
1027
Abstract
This work presents an approach to optimizing entire trajectories for a group of mobile robots that use one another as localization beacons. The cost function we seek to optimize is a measure of localization uncertainty (as opposed to distance travelled or time). Our initial findings show that, for example, it is possible to improve on the intuitive equilateral-triangle formation for three robots.
Keywords
mobile robots; multi-robot systems; optimisation; cooperative localization; cost function; intuitive equilateral-triangle formation; localization beacons; mobile robots; motion strategy optimization; Cost function; Measurement uncertainty; Mobile robots; Orbital robotics; Position measurement; Robot localization; Robot sensing systems; Sensor systems; Space exploration; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307285
Filename
1307285
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