Skip to main content
SpringerLink
Log in

Swarm Localization Through Cooperative Landmark Identification

  • Conference paper
  • First Online:
Distributed Autonomous Robotic Systems (DARS 2021)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 22))

Included in the following conference series:

  • 712 Accesses

Abstract

In this paper we propose a landmark-based map localization system for robotic swarms. The proposed system leverages the capabilities of a distributed landmark identification algorithm developed for robotic swarms presented in [1]. The output of the landmark identification consists of a vector of probabilities that each individual robot is looking at a particular landmark in the environment. In this work, this vector is used individually by each component of the swarm to feed the measurement update of a particle filter to estimate the robot location. The system was tested in simulation to validate its performance.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 219.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 279.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 279.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Brent, S., Yuan, C., Stegagno, P.: Cooperative place recognition in robotic swarms. In: Proceedings of the 2021 Annual ACM Symposium on Applied Computing, ser. SAC 2021, Virtual Conference (2021)

    Google Scholar 

  2. Bayindir, L.: A review of swarm robotics tasks. Neurocomputing 172, 08 (2015)

    Google Scholar 

  3. Bakhshipour, M., Ghadi, M.J., Namdari, F.: Swarm robotics search and rescue: a novel artificial intelligence-inspired optimization approach. Appl. Soft Comput. 57, 708–726 (2017). http://www.sciencedirect.com/science/article/pii/S1568494617301072

  4. Senanayake, M., Senthooran, I., Barca, J.C., Chung, H., Kamruzzaman, J., Murshed, M.: Search and tracking algorithms for swarms of robots: a survey. Robot. Auton. Syst. 75, 422–434 (2016). http://www.sciencedirect.com/science/article/pii/S0921889015001876

  5. Kakalis, N., Ventikos, Y.: Robotic swarm concept for efficient oil spill confrontation. J. Hazard. Mater. 154, 880–887 (2008)

    Article  Google Scholar 

  6. Kayser, M., et al.: Design of a multi-agent, fiber composite digital fabrication system. Sci. Robot. 3(22) (2018). https://robotics.sciencemag.org/content/3/22/eaau5630

  7. Luft, L., Schubert, T., Roumeliotis, S.I., Burgard, W.: Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication. Int. J. Robot. Res. 37(10), 1152–1167 (2018). https://doi.org/10.1177/0278364918760698

  8. Wang, B., Rathinam, S., Sharma, R.: Landmark placement for cooperative localization and routing of unmanned vehicles. In: International Conference on Unmanned Aircraft Systems (ICUAS) 2019, pp. 33–42 (2019)

    Google Scholar 

  9. Lin, Y., Vernaza, P., Ham, J., Lee, D.D.: Cooperative relative robot localization with audible acoustic sensing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems 2005, pp. 3764–3769 (2005)

    Google Scholar 

  10. Franchi, A., Oriolo, G., Stegagno, P.: Mutual localization in multi-robot systems using anonymous relative measurements. Int. J. Robot. Res. 32(11), 1302–1322 (2013). https://doi.org/10.1177/0278364913495425

    Article  Google Scholar 

  11. Zhang, P., Milios, E.E., Gu, J.: Underwater robot localization using artificial visual landmarks. In: IEEE International Conference on Robotics and Biomimetics 2004, pp. 705–710 (2004)

    Google Scholar 

  12. Chen, D., Peng, Z., Ling, X.: A low-cost localization system based on artificial landmarks with two degree of freedom platform camera. In: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, pp. 625–630, 04 (2015)

    Google Scholar 

  13. Frintrop, S., Jensfelt, P.: Attentional landmarks and active gaze control for visual slam. Robot. IEEE Trans. 24, 1054–1065 (2008)

    Article  Google Scholar 

  14. Jayatilleke, L., Zhang, N.: Landmark-based localization for unmanned aerial vehicles. In: IEEE International Systems Conference (SysCon) 2013, pp. 448–451 (2013)

    Google Scholar 

  15. Kobayashi, H.: A new proposal for self-localization of mobile robot by self-contained 2D barcode landmark. In: Proceedings of SICE Annual Conference (SICE) 2012, pp. 2080–2083 (2012)

    Google Scholar 

  16. Han, S., Kim, J., Myung, H.: Landmark-based particle localization algorithm for mobile robots with a fish-eye vision system. IEEE/ASME Trans. Mechatron. 18(6), 1745–1756 (2013)

    Article  Google Scholar 

  17. Yuen, D.C.K., MacDonald, B.A.: Vision-based localization algorithm based on landmark matching, triangulation, reconstruction, and comparison. IEEE Trans. Rob. 21(2), 217–226 (2005)

    Article  Google Scholar 

  18. Bangash, S.A., Ghafoor, A.: Vision based mobile node localization using a landmark. In: The 5th International Conference on Automation, Robotics and Applications, pp. 255–259 (2011)

    Google Scholar 

  19. Jang, G., Kim, S., Lee, W., Kweon, I.: Robust self-localization of mobile robots using artificial and natural landmarks. In: Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No. 03EX694), vol. 1, pp. 412–417 (2003)

    Google Scholar 

  20. Sahdev, R., Tsotsos, J.K.: Indoor place recognition system for localization of mobile robots. In: 2016 13th Conference on Computer and Robot Vision (CRV), June 2016, pp. 53–60 (2016)

    Google Scholar 

  21. Stegagno, P., Massidda, C., Bülthoff, H.H.: Distributed target identification in robotic swarms. In: Proceedings of the 30th Annual ACM Symposium on Applied Computing, Salamanca, Spain, 2015, pp. 307–313 (2015). https://doi.org/10.1145/2695664.2695922

  22. Kim, C., Yang, H., Kang, D., Lee, D.: 2-D cooperative localization with omni-directional mobile robots. In: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015, pp. 425–426 (2015)

    Google Scholar 

  23. Song, K., Tsai, C., Huang, C.: Multi-robot cooperative sensing and localization. In: IEEE International Conference on Automation and Logistics 2008, pp. 431–436 (2008)

    Google Scholar 

  24. Wang, L., Cai, X., Fan, W., Zhang, H.: An improved method for multi-robot cooperative localization based on relative bearing. In: IEEE International Conference on Robotics and Biomimetics 2009, pp. 1862–1867 (2008)

    Google Scholar 

  25. Li, Z., Acuna, R., Willert, V.: Cooperative localization by fusing pose estimates from static environmental and mobile fiducial features. In: 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and. Workshop on Robotics in Education (WRE) 2018, pp. 65–70 (2018)

    Google Scholar 

  26. Wu, P., Luo, Q., Kong, L.: Cooperative localization of network robot system based on improved MPF. In: IEEE International Conference on Information and Automation (ICIA) 2016, pp. 796–800 (2016)

    Google Scholar 

  27. Kang, H., Kawk, J., Kim, C., Jo, K.: Multiple robot formation keeping and cooperative localization by panoramic view. In: ICCAS-SICE 2009, pp. 3509–3513 (2009)

    Google Scholar 

  28. Jennings, C., Murray, D., Little, J.J.: Cooperative robot localization with vision-based mapping. In: Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), vol. 4, pp. 2659–2665 (1999)

    Google Scholar 

  29. Xingxi, S., Bo, H., Tiesheng, W., Chunxia, Z.: Cooperative multi-robot localization based on distributed UKF. In: 2010 3rd International Conference on Computer Science and Information Technology, vol. 6, pp. 590–593 (2010)

    Google Scholar 

  30. Kim, C., Song, D., Xu, Y., Yi, J., Wu, X.: Cooperative search of multiple unknown transient radio sources using multiple paired mobile robots. IEEE Trans. Robot. 30(5), 1161–1173 (2014)

    Article  Google Scholar 

  31. Carpio, R.F., Di Giulio, L., Garone, E., Ulivi, G., Gasparri, A.: A distributed swarm aggregation algorithm for bar shaped multi-agent systems. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018, pp. 4303–4308 (2018)

    Google Scholar 

Download references

Acknowledgments

This work was supported in part by the National Science Foundation under Grant CMMI 1952862.

Author information

Authors and Affiliations

  1. ICRobots Lab, University of Rhode Island, Kingston, RI, 02881, USA

    Sarah Brent, Chengzhi Yuan & Paolo Stegagno

Authors
  1. Sarah Brent
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Chengzhi Yuan
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Paolo Stegagno
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sarah Brent .

Editor information

Editors and Affiliations

  1. Mechanical Engineering and Science, Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  2. Mechanical Systems Engineering, Nagoya University, Nagoya, Japan

    Shun-ichi Azuma

  3. Computer Science and Information Technology, Hokkaido University, Sapporo, Hokkaido, Japan

    Masahito Yamamoto

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Brent, S., Yuan, C., Stegagno, P. (2022). Swarm Localization Through Cooperative Landmark Identification. In: Matsuno, F., Azuma, Si., Yamamoto, M. (eds) Distributed Autonomous Robotic Systems. DARS 2021. Springer Proceedings in Advanced Robotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-92790-5_33

Download citation

Publish with us

Policies and ethics

Search

Navigation