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Conference Paper
Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors
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- Authors
- Ji Hong Lee, Kyoung Hwan Jo, Choul Soo Jang
- Issue Date
- 2007-07
- Citation
- International Conference on Field and Service Robotics (FSR) 2007, pp.1-11
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot’s position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, it is confirmed that the proposed method provides improved localization accuracy. In addition, we present a practical solution to accumulated position error in traveling long distance.
- KSP Keywords
- Cooperative Localization, GPS sensor, Gps data, Long-distance, Multi-Robot, Position error, Robot motion, common-mode(CM), localization accuracy, model error, multiple robots