Intelligent Service Robotics

, Volume 2, Issue 1, pp 31–40 | Cite as

A spatially structured genetic algorithm for multi-robot localization

  • Andrea Gasparri
  • Stefano Panzieri
  • Federica Pascucci
Original Research Paper

Abstract

In this paper the multi-robot localization problem is addressed. A new framework based on a spatially structured genetic algorithm is proposed. Collaboration among robots is considered and is limited to the exchange of sensor data. Additionally, the relative distance and orientation among robots are assumed to be available. The proposed framework (MR-SSGA) takes advantage of the cooperation so that the perceptual capability of each robot is extended. Cooperation can be set-up at any time when robots meet, it is fully decoupled and does not require robots to stop. Several simulations have been performed, either considering cooperation activated or not, in order to emphasize the effectiveness of the collaboration strategy.

Keywords

Mobile robot Localization Genetic algorithms Complex networks 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Parker LE (2000) Current state of the art in distributed robot systems. In: Proceedings of distributed autonomous robotic systems, vol 4Google Scholar
  2. 2.
    Kurazume R, Nagata S, Hirose S (1994) Cooperative positioning with multiple robots. In: IEEE international conference on robotics and automationGoogle Scholar
  3. 3.
    Rekleitis IM, Dudek G, Milios EE (2002) Multi-robot cooperative localization: a study of trade-offs between efficiency and accuracy. In: IEEE/RSJ international conference on intelligent robot and systemGoogle Scholar
  4. 4.
    Rekleitis IM, Dudek G, Milios EE (2003) Probabilistic cooperative localization and mapping in practice. In: IEEE international conference on robotics and automationGoogle Scholar
  5. 5.
    Fox D, Burgard W, Kruppa H, Thrun S (2000) A probabilistic approach to collaborative multi-robot localization. Auton Robots 8(3): 325–344CrossRefGoogle Scholar
  6. 6.
    Roumeliotis SI, Bekey GA (2002) Distributed multi-robot localization. IEEE Trans Robot Autom 18(5): 781–795CrossRefGoogle Scholar
  7. 7.
    Mourikis AI, Roumeliotis SI (2006) Performance analysis of multi-robot Cooperative localization. IEEE Trans Robot 22(4): 666–681CrossRefGoogle Scholar
  8. 8.
    Martinelli A, Pont F, Siegwart R (2005) Multi-robot localization using relative observation. In: IEEE international conference on robotics and automationGoogle Scholar
  9. 9.
    Martinelli A, Siegwart R (2005) Observability analysis for mobile robot localization. In: IEEE/RSJ international conference on intelligent robot and systemGoogle Scholar
  10. 10.
    Gasparri A, Panzieri S, Pascucci F, Ulivi G (2007) A spatially structured genetic algorithm over complex networks for mobile robot localization. In: IEEE international conference on robotics and automationGoogle Scholar
  11. 11.
    Tomassini M (2005) Spatially structured evolutionary algorithms: artificial evolution in space and time (natural computing series). Springer, New YorkMATHGoogle Scholar
  12. 12.
    Goldberg DE (1989) Genetic algorithms in search, optimization, and machine learning. Addison-Wesley, New YorkMATHGoogle Scholar
  13. 13.
    Ashlock D, Smucker M, Walker J (1999) Graph Based Genetic Algorithms. In: Congress on evolutionary computationGoogle Scholar
  14. 14.
    Barabási AL, Reka A (1999) Emergence of scaling in random networks. Science 286: 509–512CrossRefMathSciNetGoogle Scholar
  15. 15.
    Watts DJ, Strogatz SH (1998) Collective dynamics of ‘small-world’ networks. Nature 393: 440–442CrossRefGoogle Scholar
  16. 16.
    Wang XF, Chen G (2003) Complex networks: small-world, scale-free and beyond. IEEE Circuits Syst Mag 3(1): 6–20CrossRefGoogle Scholar

Copyright information

© Springer-Verlag 2008

Authors and Affiliations

  • Andrea Gasparri
    • 1
  • Stefano Panzieri
    • 1
  • Federica Pascucci
    • 1
  1. 1.Dip. Informatica e AutomazioneUniversità degli Studi Roma TreRomaItaly

Personalised recommendations