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Optimal trajectories for multi robot localization | IEEE Conference Publication | IEEE Xplore

Optimal trajectories for multi robot localization


Abstract:

This paper considers the problem of multi robot localization. The analysis is focused on the problem of determining which are the optimal robot trajectories in order to m...Show More

Abstract:

This paper considers the problem of multi robot localization. The analysis is focused on the problem of determining which are the optimal robot trajectories in order to minimize the localization error at the final robot configurations. Furthermore, the analysis takes into account several constraints expressing the maximum robot energy consumption. The problem is formulated as an optimal control problem. For the special case of holonomic vehicles, an analytical solution is derived. In particular, this solution satisfies second order differential equations. The trajectories corresponding to this optimal control are plotted for different initial and final robot configurations and for several values of the system parameters (characterizing the precision of the robot sensors and the values of the constraints). Extensive simulations validate the derived analytical results.
Date of Conference: 15-17 December 2010
Date Added to IEEE Xplore: 22 February 2011
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Conference Location: Atlanta, GA, USA

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