Cooperative Multi-Robot Estimation and Control for Radio Source Localization - Robotics Institute Carnegie Mellon University

Cooperative Multi-Robot Estimation and Control for Radio Source Localization

B. Charrow, Nathan Michael, and V. Kumar
Conference Paper, Proceedings of 13th International Symposium on Experimental Robotics (ISER '12), pp. 337 - 351, June, 2012

Abstract

We develop algorithms for estimation and control that allow a team of robots equipped with range sensors to localize an unknown target in a known but complex environment. We present an experimental model for radio-based time-of-flight range sensors. Adopting a Bayesian approach for estimation, we then develop a control law which maximizes the mutual information between the robot’s measurements and their current belief of the target position. We describe experimental results for a robot team localizing a stationary target in several representative indoor environments in which the unknown target is reliably localized with an error well below the typical error for individual measurements.

BibTeX

@conference{Charrow-2012-17116,
author = {B. Charrow and Nathan Michael and V. Kumar},
title = {Cooperative Multi-Robot Estimation and Control for Radio Source Localization},
booktitle = {Proceedings of 13th International Symposium on Experimental Robotics (ISER '12)},
year = {2012},
month = {June},
pages = {337 - 351},
}