A Jacobian free approach for multi-robot relative localization | IEEE Conference Publication | IEEE Xplore

A Jacobian free approach for multi-robot relative localization

Publisher: IEEE

Abstract:

This study presents a relative localization (RL) approach for an multi-robotics system (MRS), in which a robot detects and tracks one or more robots in its body-fixed coo...View more

Abstract:

This study presents a relative localization (RL) approach for an multi-robotics system (MRS), in which a robot detects and tracks one or more robots in its body-fixed coordinate system. A square-root cubature Kalman filter (SCKF) is employed to track the teammates' relative pose based on the high-frequency egocentric sensory data and the low-frequency inter-robot relative measurements (IRRM). This IRRM data consists of the relative range and the relative bearing between the tracking robot and its teammates. A series of Monte-Carlo simulations for a heterogeneous multi-robotic system is presented to evaluate the proposed SCKF-based RL scheme for different measurement noise configurations and different measurement update rates. To assess how the proposed SCKF-based RL scheme improves relative pose estimation, a comparison with the EKF and the general cubature Kalman filter-based RL schemes through numerical simulations are presented. The results suggest that the proposed SCKF-based RL scheme is a promising solution for relative pose estimation when an exteroceptive sensory system has high measurement uncertainty and/or low measurement update rate.
Date of Conference: 04-07 May 2014
Date Added to IEEE Xplore: 18 September 2014
ISBN Information:
Print ISSN: 0840-7789
Publisher: IEEE
Conference Location: Toronto, ON, Canada

References

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