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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389614
