Formations of Localization of Robot Networks

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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
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In this paper, we consider the problem of cooperatively localizing a formation of networked mobile robots/vehicles in SE(2), and adapting the formation to reduce localization errors. First, we propose necessary and sufficient conditions to establish when a team of robots with heterogeneous sensors can be completely localized. We present experimental measurements of range and bearing with omni-directional cameras to motivate a simple model for noisy sensory information. We propose a measure of quality of team localization, and show how this measure directly depends on a sensing graph. Finally, we show how the formation and the sensing graph can be adapted to improve the measure of performance for team localization and for localization of targets through experiments and simulations.

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2004-04-26
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Departmental Papers (MEAM)
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2023-05-16T21:44:56.000
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Copyright 2004 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2004 (ICRA 2004) Volume 4, pages 3369-3374. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=29027&page=2 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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