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Dynamic range-only localization for multi-robot systems

Yanjun Cao, Meng Li, Ivan Svogor, Shaoming Wei and Giovanni Beltrame

Article (2018)

Published Version
Terms of Use: IEEE Open Access Publishing Agreement.
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Cite this document: Cao, Y., Li, M., Svogor, I., Wei, S. & Beltrame, G. (2018). Dynamic range-only localization for multi-robot systems. IEEE Access, 6, p. 46527-46537. doi:10.1109/access.2018.2866259
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The localization problem for multi-robot teams has been extensively studied with the goal of obtaining precise positioning information, such as required by a variety of robotic applications. This paper proposes a dynamic localization approach that exploits multiple robots equipped with range-only ultra-wideband sensors to create and maintain a common self-adaptive coordinate system. For 2-D localization, we use three robots with relative range measurements to build a global coordinate system. We recursively apply an extended Kalman filter, which results in accurate position estimates over time. We also propose a reconfiguration approach that prevents error accumulation from ultra-wideband sensors. The applicability of our approach is tested through a campaign of simulations, which show promising results.

Uncontrolled Keywords

multi-robot; range-only localization; uwb; ekf; cooperative localization; robots

Open Access document in PolyPublie
Subjects: 2600 Robotique > 2600 Robotique
2700 Technologie de l'information > 2706 Génie logiciel
Department: Département de génie informatique et génie logiciel
Research Center: Non applicable
Funders: Natural Sciences and Engineering Research Council Strategic Partnership
Grant number: 479149-2015
Date Deposited: 16 Aug 2021 15:11
Last Modified: 17 Aug 2021 01:20
PolyPublie URL: https://publications.polymtl.ca/4814/
Document issued by the official publisher
Journal Title: IEEE Access (vol. 6)
Publisher: IEEE
Official URL: https://doi.org/10.1109/access.2018.2866259


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