Using an extended Kalman filter for relative localisation in a moving robot formation

This work presents a new approach to relative position estimation in multi robot systems. The information of laser scanner systems is used to estimate the relative positions between each other. An extended Kalman filter (EKF) is used to combine this information into one continuously updated position estimation. All robots of a group use these data in order to generate one common coordinate system. Experimental results are presented including formation movement as an example application.