Complexity analysis and approximate solutions for two multiple-robot localization problems

Jinsuck Kim, Nancy M. Amato

Research output: Contribution to journalConference articlepeer-review

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 languageEnglish (US)
Pages (from-to)1052-1057
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number1
StatePublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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