DocumentCode
426154
Title
Relative localization for pairs of robots based on unidentifiable moving features
Author
Montesano, Luis ; Montano, Luis ; Burgard, Wolfram
Author_Institution
Dept. de Informatica e Ing. de Sistemas, Zaragoza Univ., Spain
Volume
2
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
1537
Abstract
This paper presents a new method for relative localization of a pair of robots based on the trajectories described by unidentifiable moving objects. Our approach uses a Rao-Blackwellized particle filter to estimate both the relative location of the robots and the data associations between the moving objects around the robots. We describe our implementation on real robots and present experiments illustrating the robustness of our algorithm.
Keywords
mobile robots; multi-robot systems; stability; state estimation; Rao-Blackwellized particle filter; relative localization; robot pair; robustness; state estimation; unidentifiable moving feature; Decision making; Global Positioning System; Kinematics; Mobile robots; Parallel robots; Particle filters; Robot sensing systems; Robustness; State estimation; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389614
Filename
1389614
Link To Document