Leap-Frog Path Design for Multi-Robot Cooperative Localization
Conference Paper, Proceedings of 7th International Conference on Field and Service Robotics (FSR '09), pp. 307 - 317, July, 2009
Abstract
We present a “leap-frog” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path that provides informative measurements. After completing the move, the roles of each robot are switched and the path is repeated. We demonstrate accurate localization using this path via a coverage experiment in which three robots successfully cover a 20m x 30m area. We report an approximate positional drift of 1.1m per robot over a travel distance of 140m. To our knowledge, this is one of the largest successful GPS-denied coverage experiments to date.
BibTeX
@conference{Tully-2009-10292,author = {Stephen T. Tully and George A. Kantor and Howie Choset},
title = {Leap-Frog Path Design for Multi-Robot Cooperative Localization},
booktitle = {Proceedings of 7th International Conference on Field and Service Robotics (FSR '09)},
year = {2009},
month = {July},
pages = {307 - 317},
}
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