Distributed range-based relative localization of robot swarms

Alejandro Cornejo, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Scopus citations

Abstract

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of nearby robots in the environment. This problem is studied in the context of large swarms of simple robots which are capable of measuring only the distance to near-by robots. We compare two distributed localization algorithms with different trade-offs between their computational complexity and their coordination requirements. The first algorithm does not require the robots to coordinate their motion. It relies on a non-linear least squares based strategy to allow robots to compute the relative pose of nearby robots. The second algorithm borrows tools from distributed computing theory to coordinate which robots must remain stationary and which robots are allowed to move. This coordination allows the robots to use standard trilateration techniques to compute the relative pose of near-by robots. Both algorithms are analyzed theoretically and validated through simulations.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsA. Frank van der Stappen, H. Levent Akin, Nancy M. Amato, Volkan Isler
PublisherSpringer Verlag
Pages91-107
Number of pages17
ISBN (Print)9783319165943
DOIs
StatePublished - 2015
Externally publishedYes
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
Country/TerritoryTurkey
CityIstanbul
Period8/3/148/5/14

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Fingerprint

Dive into the research topics of 'Distributed range-based relative localization of robot swarms'. Together they form a unique fingerprint.

Cite this