Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots

Anastasios I. Mourikis; Stergios Roumeliotis

doi:10.1109/robot.2004.1307210

Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots

Anastasios I. Mourikis, Stergios Roumeliotis

Computer Science and Engineering

Research output: Contribution to journal › Conference article › peer-review

18 Scopus citations

Abstract

This paper studies the localization accuracy of a team of mobile robots that perform Cooperative Localization. We provide an analytical expression for the upper bound in positioning accuracy as a function of a weighted connectivity graph for the network of relative position measurements in the robot group. This network has a time-varying topology determined by the availability of relative position measurements between pairs of robots. The weights of the connectivity graph depend on (i) the odometric and orientation accuracy of each robot, and (ii) the accuracy of the robot tracker on each member of the team that measures its relative position with respect to other robots in the group. The theoretical results are validated by extensive simulations.

Original language	English (US)
Pages (from-to)	572-579
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	1
DOIs	https://doi.org/10.1109/robot.2004.1307210
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

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abstract = "This paper studies the localization accuracy of a team of mobile robots that perform Cooperative Localization. We provide an analytical expression for the upper bound in positioning accuracy as a function of a weighted connectivity graph for the network of relative position measurements in the robot group. This network has a time-varying topology determined by the availability of relative position measurements between pairs of robots. The weights of the connectivity graph depend on (i) the odometric and orientation accuracy of each robot, and (ii) the accuracy of the robot tracker on each member of the team that measures its relative position with respect to other robots in the group. The theoretical results are validated by extensive simulations.",

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AB - This paper studies the localization accuracy of a team of mobile robots that perform Cooperative Localization. We provide an analytical expression for the upper bound in positioning accuracy as a function of a weighted connectivity graph for the network of relative position measurements in the robot group. This network has a time-varying topology determined by the availability of relative position measurements between pairs of robots. The weights of the connectivity graph depend on (i) the odometric and orientation accuracy of each robot, and (ii) the accuracy of the robot tracker on each member of the team that measures its relative position with respect to other robots in the group. The theoretical results are validated by extensive simulations.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots

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