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Multi-Robot Localization Using Relative Observations
Open accessAbstract
In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive and exteroceptive data are fused with an Extended Kalman Filter. We derive the equations for this estimator for the most general relative observation between two robots. Then we consider three special cases of relative observations and we present the structure of the filter for each case. Finally, we study the performance of the approach through many accurate simulations.
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Cited by
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Schmuck, P., & Chli, M. (2019) · Journal of Field Robotics · doi:10.1002/rob.21854 · Cited by 253
Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization
Knuth, J., & Barooah, P. (2013) · 2013 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2013.6630774 · Cited by 34
Metadata
- Authors
- Martinelli, A., Pont, F., & Siegwart, R.
- Venue
- Proceedings of the 2005 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2006-01-18
- Pages
- 2797-2802
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2138400911
- Cited by
- 221
- References
- 0
- FWCI
- 20.72
- Type
- conference paper
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: Multi-Robot Localization Using Relative Observations. https://app.cochat.ai/papers/10.1109/robot.2005.1570537
- The paper
- Martinelli, A., Pont, F., & Siegwart, R. (2006). Multi-Robot Localization Using Relative Observations. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2005.1570537
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