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 distinguishable 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., Giannitrapani, A., Vicino, A. (2003). Simultaneous localization and map building for a team of cooperating robots: a set membership approach. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 19(2), 238-249 [10.1109/TRA.2003.808849].
Simultaneous localization and map building for a team of cooperating robots: a set membership approach
DI MARCO, MAURO;GARULLI, ANDREA;GIANNITRAPANI, ANTONIO;VICINO, ANTONIO
2003-01-01
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 distinguishable 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.
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https://hdl.handle.net/11365/25568
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