  This paper summarizes the progress in developing a rugged, low-cost,
automated ground cone robot network capable of traffic delineation at
lane-level precision. A holonomic omnidirectional base with a traffic
delineator was developed to allow flexibility in initialization. RTK GPS was
utilized to reduce minimum position error to 2 centimeters. Due to recent
developments, the cost of the platform is now less than $1,600. To minimize the
effects of GPS-denied environments, wheel encoders and an Extended Kalman
Filter were implemented to maintain lane-level accuracy during operation and a
maximum error of 1.97 meters through 50 meters with little to no GPS signal.
Future work includes increasing the operational speed of the platforms,
incorporating lanelet information for path planning, and cross-platform
estimation.
