Abstract
In this paper, we consider the localization problem for a system of mobile robots using inexpensive range sensors. Among many issues for multi-robot systems, two problems are identified and formally defined. The first problem is sensing ranges from all robots as quickly as possible while avoiding sensor cross-talk, and the second problem is to localize a multi-robot system using a minimal number of range sensings. We show that both these problems are NP-Complete, and we propose an approximate method for the multi-robot localization problem that takes advantage of the robots' pose uncertainty information. Simulation results show the effectiveness of our method for localizing multiple robots.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1052-1057 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 1 |
| State | Published - Jul 5 2004 |
| Externally published | Yes |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering