N. Trawny and T. Barfoot. Optimized motion strategies for cooperative localization of mobile robots. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), volume 1, pages 1027-1032, New Orleans, LA, April 2004.
This paper presents an approach to
optimizing entire trajectories for a group of mobile robots that use one
another as localization beacons. The cost function we seek to optimize is a
measure of localization uncertainty (as opposed to distance travelled or
time). Our initial findings show that, for example, it is possible to
improve on the intuitive equilateral-triangle formation for three robots.
© 2004 by Nikolas Trawny
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