Analysis of Multirobot Localization Uncertainty Propagation

Stergios I. Roumeliotis, Ioannis M. Rekleitis

Research output: Contribution to conferencePaperpeer-review

41 Scopus citations


This paper deals with the problem of cooperative localization for the case of large groups of mobile robots. A Kalman filter estimator is implemented and tested for this purpose. The focus of this paper is to examine the effect on localization accuracy of the number N of participating robots and the accuracy of the sensors employed. More specifically, we investigate the improvement in localization accuracy per additional robot as the size of the team increases. Furthermore, we provide an analytical expression for the upper bound on the positioning uncertainty increase rate for a team of N robots as a function of N, the odometric and orientation uncertainty for each robot, and the accuracy of a robot tracker measuring relative positions between pairs of robots. The analytical results derived in this paper are validated in simulation for different test cases.

Original languageEnglish (US)
Number of pages8
StatePublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003


Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV


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