Self-localization based on multiresolution map for remote control of multiple mobile robots

Yuichiro Toda, Naoyuki Kubota

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


This paper proposes a localization method using multiresolution maps for the navigation of multiple mobile robots based on formation behaviors. The remote control of multiple mobile robots is one the most important tasks in robotics to realize distributed remote monitoring in unknown and/or dynamic environments. However, it is very difficult for a human operator to control multiple mobile robots separately at the same time. Therefore, autonomous formation behaviors of multiple robots are required to reduce mental and physical loads of the human operator. If each mobile robot can estimate the self-position or relative position in a group, it is easier for multiple mobile robots to realize formation behaviors. First, we propose a method of simultaneous localization and mapping based on a grid approach. Next, we explain how to share the build map among multiple mobile robots, and propose a self-localization method based on multiresolution maps. Furthermore, we explain the formation behaviors of multiple mobile robots. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.

Original languageEnglish
Article number6512611
Pages (from-to)1772-1781
Number of pages10
JournalIEEE Transactions on Industrial Informatics
Issue number3
Publication statusPublished - 2013
Externally publishedYes


  • Evolutionary computing
  • multiple robots
  • multiresolution maps
  • remote control
  • self-localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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