Related papers: Consistent Distributed Cooperative Localization: A…
This paper studies the problem of Cooperative Localization (CL) for multi-robot systems, where a group of mobile robots jointly localize themselves by using measurements from onboard sensors and shared information from other robots. We…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor…
Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…
How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…
This paper presents a novel approach to deal with the cooperative localization problem in wireless sensor networks based on received signal strength measurements. In cooperative scenarios, the cost function of the localization problem…
We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm…