11/03/07

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.

Abstract:

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.
 

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Bibtex Entry:

@inproceedings{Trawny04,

author = {Nikolas Trawny and Timothy Barfoot},

title = {Optimized motion strategies for cooperative localization of mobile robots},

booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},

address = {New Orleans, LA},

volume = {1},

month = {April 26 -- May 1},

year = {2004},

pages = {1027--1032},

}

© 2004 by Nikolas Trawny

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