Thispaper describes a merhod for localizing the members of a mobile mbor team, using only the mbors themelves as landmarks. That is, we describe a method whereby each mbor can determine rhe relative range, bearing and orienration of every other robor in the ream, without the use of GPS, external landmarks, or insrrumentarion of the environment. Our merhod assumes t h r each mbor is able ro measure rhe relative pose of nearby robots, rogether wirh changes in irs own pose: using a combination of maximum likelihood estimrion ( M U ) and numerical optimization, we can subsequenrly infer rhe relative pose of every robot in the team. This paper describes the basic formalism, ifs pracrical implemenrarion, and presents experimenral results obrained using a team of four mobile robots.
REF have proposed a method for localizing the members of a mobile robot team where a motion sensor is assumed to estimate changes in the pose of each robot.
Localization for mobile robot teams using maximum likelihood estimation
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science