Cart (Loading....) | Create Account
Close category search window
 

Cooperative, distributed localization in multi-robot systems: a minimum-entropy approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Caglioti, V. ; Dept. of Electron. & Inf., Politecnico di Milano ; Citterio, A. ; Fossati, A.

In this paper, we consider the problem of localization in a multi-robot system. We present a new approach focused on distribution, scalability, and minimum-uncertainty perception. An extended Kalman filter (EKF) is used to update an estimate of the robot poses in correspondence to each sensor measurement. An entropic criterion is used, in order to select optimal measurements that reduce the global uncertainty relative to the estimate of the robot poses. It is shown that, in addition to EKF, also the selection of the optimal measurement can be distributed among the robots, in a scalable fashion. The proposed approach has been validated by simulations and preliminary experimental results

Published in:

Distributed Intelligent Systems: Collective Intelligence and Its Applications, 2006. DIS 2006. IEEE Workshop on

Date of Conference:

15-16 June 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.