scholarly journals On the consistency of multi-robot cooperative localization

2009 ◽  
Author(s):  
G. P. Huang ◽  
N. Trawny ◽  
A. I. Mourikis ◽  
S. I. Roumeliotis
Keyword(s):  
Cooperative Localization ◽  
Multi Robot

scholarly journals Observability-based consistent EKF estimators for multi-robot cooperative localization

2010 ◽  
Vol 30 (1) ◽  
pp. 99-122 ◽  
Author(s):  
Guoquan P. Huang ◽  
Nikolas Trawny ◽  
Anastasios I. Mourikis ◽  
Stergios I. Roumeliotis
Keyword(s):  
Cooperative Localization ◽  
Multi Robot

scholarly journals Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation

Sensors ◽  
2019 ◽  
Vol 19 (18) ◽  
pp. 3842 ◽  
Author(s):  
Zhang ◽  
Cao
Keyword(s):  
State Estimation ◽  
Error Compensation ◽  
Estimation Error ◽  
The State ◽  
Cooperative Localization ◽  
Communication Delays ◽  
Extended Kalman Filtering ◽  
Robot Systems ◽  
Localization Approach ◽  
Multi Robot

In order to improve the localization accuracy of multi-robot systems, a cooperative localization approach with communication delays was proposed in this paper. In the proposed method, the reason for the time delay of the robots’ cooperative localization approach was analyzed first, and then the state equation and measure equation were reconstructed by introducing the communication delays into the states and measurements. Furthermore, the cooperative localization algorithm using the extended Kalman filtering technique based on state estimation error compensation was proposed to reduce the state estimation error of delay filtering. Finally, the simulation and experiment results demonstrated that the proposed algorithm can achieve good performance in location in the presence of communication delay while having reduced computational and communicative cost.

scholarly journals A robust extended filtering approach to multi-robot cooperative localization in dynamic indoor environments

2013 ◽  
Vol 21 (7) ◽  
pp. 953-961 ◽  
Author(s):  
Yan Zhuang ◽  
Zidong Wang ◽  
Haiyang Yu ◽  
Wei Wang ◽  
Stanislao Lauria
Keyword(s):  
Cooperative Localization ◽  
Indoor Environments ◽  
Filtering Approach ◽  
Multi Robot
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