Details

Autor(en) / Beteiligte

• Özkucur, Nezih Ergin
• Kurt, Barış
• Akın, H. Levent
• Iocchi, Luca
• Matsubara, Hitoshi
• Weitzenfeld, Alfredo
• Zhou, Changjiu

Titel

A Collaborative Multi-robot Localization Method without Robot Identification

Ist Teil von

• RoboCup 2008: Robot Soccer World Cup XII, p.189-199

Ort / Verlag

Berlin, Heidelberg: Springer Berlin Heidelberg

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This paper introduces a method for multi-robot localization which can be applied to more than two robots without identifying each of them individually. The Monte Carlo localization for the single robot case is extended using negative landmark information and shared belief state in addition to perception. A robot perceives a teammate and broadcasts its observation without identifying the teammate, and whenever a robot receives an observation, the observation is processed only if the robot decides that the observation concerns itself. The experiments are based on scenarios where it is impossible for a single robot to localize precisely and the shared information is ambiguous. We demonstrate successful robot identification and localization results in different scenarios.