Abstract
This paper proposes a localization method using shared information for teleoperation of multiple robots based on formation behaviors. The localization is one of the most important capabilities. However, other robots can be considered as unknown objects when a mobile robot performs initial self-localization. It is difficult to estimate the initial position if the other robots enter the sensing range of the mobile robot. However, the robot can perform the initial self-localization more efficiently by sharing the map information and each self-position. Therefore, we propose a method of effective initial self-localization using the position information of the other mobile robots and the subtracted measurement data of LRF for multi-robot systems. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.
| Original language | English |
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| Pages | 2721-2726 |
| Number of pages | 6 |
| Publication status | Published - Jan 1 2013 |
| Externally published | Yes |
| Event | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: Sept 14 2013 → Sept 17 2013 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
|---|---|
| Country/Territory | Japan |
| City | Nagoya |
| Period | 9/14/13 → 9/17/13 |
Keywords
- Multi-robot system
- Self-localization
- Teleoperation
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering