.png){kind=icon}
Return
Dynamic Range-only Localization for Multi-Robot Systems
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2018.2866259.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
The localization problem for multi-robot teams has been extensively studied with the goal of obtaining precise positioning information, such as required by a variety of robotic applications. This paper proposes a dynamic localization approach that exploits multiple robots equipped with range-only ultra-wideband sensors to create and maintain a common self-adaptive coordinate system. For 2-D localization, we use three robots with relative range measurements to build a global coordinate system. We recursively apply an extended Kalman filter, which results in accurate position estimates over time. We also propose a reconfiguration approach that prevents error accumulation from ultra-wideband sensors. The applicability of our approach is tested through a campaign of simulations, which show promising results.
Keywords:
Multi-robot
range-only localization
UWB
EKF
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
3.6
Papers:
9.8W
Citations:
29.4W
Organization
Cited Papers
ShareSaveShareSaveShareSaveRapid extraction of uranium ions from seawater using novel porous polymeric adsorbents.png)
RSC Advances
RSC AdvancesIF0
PREAI
ShareSaveShareSave
ShareSaveShareSave
View more