JACIII Vol.15 No.9 pp. 1269-1276
doi: 10.20965/jaciii.2011.p1269


Mutual Localization of Multiple Sensor Node Robots

Keitaro Naruse, Shigekazu Fukui, and Jie Luo

School of Computer Science and Engineering, University of Aizu, Tsuruga, Ikki-machi, Aizu-Wakamatsu, Fukushima 965-0006, Japan

May 18, 2011
June 22, 2011
November 20, 2011
swarm robotics, sensor network, localization, Kalman filter
The objective of this paper is to develop a localization systemof cooperativemultiple mobile robots, in which each robot is assumed to observe a set of known landmarks and equipped with an omnidirectional camera. In this paper, it is assumed that a robot can detect other robots by using the omnidirectional camera, share its estimated position with others, and utilize shared positions for its localization. In other words, each robot can be viewed as an additional mobile landmark to a set of stationary landmarks. A foremost concern is how well this system performs localization under a limited amount of information. This paper presents an investigation of self localization error of each robot in a group using Extended Kalman Filter to solve the localization problem with the insufficient landmarks and inaccurate position information.
Cite this article as:
K. Naruse, S. Fukui, and J. Luo, “Mutual Localization of Multiple Sensor Node Robots,” J. Adv. Comput. Intell. Intell. Inform., Vol.15 No.9, pp. 1269-1276, 2011.
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