Optimal formations for cooperative localization of mobile robots

Yukikazu S. Hidaka, Anastasios I. Mourikis, Stergios I. Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

This paper studies the effects of the geometry of a mobile robot formation on the accuracy of the robots' localization. The general case of heterogeneous (in terms of sensor accuracy) robot teams performing Cooperative Localization is considered. An analysis of the time evolution of the covariance matrix of the position estimates allows us to express the steady-state positioning uncertainty of the robots as an analytic function of the relative positions of the robots in the formation. This metric encapsulates the effect of formation geometry on the information content of the exteroceptive measurements, as well as the effect of the influx of uncertainty due to the errors in the robots' odometry. Thus, by minimizing the trace of the steady state covariance matrix with respect to the positions of the robots, the optimal robot configuration can be determined. Numerical experiments are presented, which indicate that it is possible to derive a practical rule for determining optimal formations, without the need to resort to extensive simulations, or experimentation.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4126-4131
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

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