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Cooperative Multi-robot Estimation and Control for Radio Source Localization

  • Benjamin CharrowEmail author
  • Nathan Michael
  • Vijay Kumar
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)

Abstract

We develop algorithms for estimation and control that allow a team of robots equipped with range sensors to localize an unknown target in a known but complex environment. We present an experimental model for radio-based time-of-flight range sensors. Adopting a Bayesian approach for estimation, we then develop a control law which maximizes the mutual information between the robot’s measurements and their current belief of the target position. We describe experimental results for a robot team localizing a stationary target in several representative indoor environments in which the unknown target is reliably localized with an error well below the typical error for individual measurements.

Keywords

Mutual Information Gaussian Mixture Model Range Sensor Cooperative Localization Mobile Beacon 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  1. 1.GRASP LabUniversity of PennsylvaniaPhiladelphiaUSA

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