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
Journal Article, International Journal of Robotics Research, Vol. 33, No. 4, pp. 569 - 580, April, 2014

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

@article{Charrow-2014-7859,
author = {B. Charrow and Nathan Michael and V. Kumar},
title = {Cooperative Multi-Robot Estimation and Control for Radio Source Localization},
journal = {International Journal of Robotics Research},
year = {2014},
month = {April},
volume = {33},
number = {4},
pages = {569 - 580},
}