A robust Monte-Carlo algorithm for multi-robot localization

被引：0

作者：

Amiranashvili, V ^{[1
]}

Lakemeyer, G ^{[1
]}

机构：

[1] Rhein Westfal TH Aachen, D-52056 Aachen, Germany

来源：

MULTI-ROBOT SYSTEMS - FROM SWARMS TO INTELLIGENT AUTOMATA VOL III | 2005年

关键词：

multiple robots; Monte Carlo localization;

D O I：

10.1007/1-4020-3389-3_20

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new algorithm for the problem of multi-robot localization in a known environment. The approach is based on the mutual refinement by robots of their beliefs about the global poses, whenever they detect each other's paths. The robots try to detect the paths of other robots by comparing their own perception sensor information to that "seen" by other robots. This way the relative poses of the robots can be determined, which in turn enables the exchange of the beliefs about the global poses.

引用

页码：251 / 256

页数：6

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