Multi-robot cooperative sensing and localization

Kai-Tai Song*, Chi Yi Tsai, Cheng Hsien Chiu Huang

*Corresponding author for this work

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

10 Scopus citations

Abstract

This paper presents a novel method for mobile robot localization based on multi-robot cooperative sensing. A multi-robot cooperative localization scheme is proposed using visual detection and sensor data fusion. The visual detection system employs a stereo vision module for both observing other robots and obtaining environmental information. Each mobile robot is able to recognize its teammates by using the vision system. The localization error is reduced through the proposed sensor fusion algorithm. The cooperative localization algorithm consists of two stages: serial fusion and parallel fusion. Serial fusion aims to identify the positional uncertainty of an observed robot while parallel fusion reduces its positional error based on Kalman filtering. The multi-robot cooperative localization system has been realized through the server-client architecture. Experimental results are presented to validate the effectiveness of the proposed algorithms.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
Pages431-436
Number of pages6
DOIs
StatePublished - 26 Nov 2008
EventIEEE International Conference on Automation and Logistics, ICAL 2008 - Qingdao, China
Duration: 1 Sep 20083 Sep 2008

Publication series

NameProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008

Conference

ConferenceIEEE International Conference on Automation and Logistics, ICAL 2008
CountryChina
CityQingdao
Period1/09/083/09/08

Keywords

  • Cooperative localization
  • Kalman filtering
  • Mobile robot localization
  • Multi-robot system
  • Sensor data fusion

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  • Cite this

    Song, K-T., Tsai, C. Y., & Huang, C. H. C. (2008). Multi-robot cooperative sensing and localization. In Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 (pp. 431-436). [4636190] (Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008). https://doi.org/10.1109/ICAL.2008.4636190