The problem of simultaneous localization and map building for a team of cooperating robots moving in an unknown environment is addressed. The robots have to estimate the position of static landmarks, and then localize themselves with respect to other robots and landmarks, exploiting distance and angle measurements. A novel set theoretic approach to this problem is presented. The proposed localization algorithm provides position estimates and guaranteed uncertainty regions for all robots and landmarks in the environment.

DI MARCO, M., Garulli, A., & Vicino, A. (2001). Cooperative localization and map building for multi-robot systems: a set membership approach. In 9th International Symposium on Intelligent Robotic Systems (SIRS 2001) (pp.415-424).

Cooperative localization and map building for multi-robot systems: a set membership approach

DI MARCO, MAURO;GARULLI, ANDREA;VICINO, ANTONIO
2001

Abstract

The problem of simultaneous localization and map building for a team of cooperating robots moving in an unknown environment is addressed. The robots have to estimate the position of static landmarks, and then localize themselves with respect to other robots and landmarks, exploiting distance and angle measurements. A novel set theoretic approach to this problem is presented. The proposed localization algorithm provides position estimates and guaranteed uncertainty regions for all robots and landmarks in the environment.
2907801015
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/25258
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo