Consistent multirobot localization using heuristically tuned extended Kalman filter

Masinjila, Ruslan; Payeur, Pierre

doi:10.1109/iris.2017.8250138

Cited by 4 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In a decentralized system, it is important to avoid the problem of double-counting or data incest. Masinjila et al presents a heuristically tuned EKF to address this problem [5], which proposes an empirical methodology for improving the consistency of EKF estimates by means of artificial inflation of the landmark covariance. This problem is also discussed in [15] and [8].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Decentralized Cooperative Multi-Robot Localization with EKF

Han,

Chen,

et al. 2018

Preprint

View full text Add to dashboard Cite

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 approach only requires that at least one robot remains stationary as a temporary landmark during a certain period of time. The novelty of our approach is threefold: (1) developing a decentralized scheme that each robot calculates their own state and only stores the latest one to reduce storage and computational cost; (2) developing an efficient localization algorithm through the extended Kalman filter (EKF) that only uses observations of relative pose to estimate the robot positions;(3) developing a scheme has less requirements on landmarks and more robustness against insufficient observations. Various simulations and experiments using five robots equipped with relative pose-measurement sensors are performed to validate the superior performance of our approach.

show abstract

Section: Related Workmentioning

confidence: 99%

“…Generally, the schemes to calculate the data fusion in CL are either centralized, multi-centralized or decentralized [5]. In a centralized system, the computations for all robot data are processed in one central robot.…”

Section: Introductionmentioning

confidence: 99%