Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1

Jihong Lee 1 Kyounghwan Jo 1 Choulsoo Jang 2
1 BK21 Mechatronics Group
2 Intelligent Robot Research Division
Abstract : This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot's position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, it is confirmed that the proposed method provides improved localization accuracy [9]. In addition, we present a practical solution to accumulated position error in traveling long distance.
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Communication dans un congrès
6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics
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Jihong Lee, Kyounghwan Jo, Choulsoo Jang. Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics. 〈inria-00195697〉

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