Towards Cooperative Localization in Robotic Swarms

  • Anderson G. Pires
  • Douglas G. Macharet
  • Luiz Chaimowicz
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 112)

Abstract

Cooperative localization allows groups of robots to improve their overall localization by sharing position estimates within the team. In spite of being a well studied problem, very few works deal with the increased complexity when a large number of robots is used, as is the case in robotic swarms. In this paper, we present a characterization and analysis of the cooperative localization problem for robotic swarms. We use a decentralized cooperative mechanism in which robots take turns as dynamic landmarks providing information to their teammates. We perform several simulations and analyze the influence of these dynamic landmarks in the localization. More specifically, we study the impact of the number of robots in the localization and how the choice of landmarks affects the results.

Keywords

Cooperative localization Cooperative mobile robots Swarm robotics 

Notes

Acknowledgments

This work was developed with the support of CEFET-MG, CAPES, FAPEMIG and CNPq.

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Copyright information

© Springer Japan 2016

Authors and Affiliations

  • Anderson G. Pires
    • 1
    • 2
  • Douglas G. Macharet
    • 1
  • Luiz Chaimowicz
    • 1
  1. 1.Computer Vision and Robotics Laboratory (VeRLab)Computer Science Department – Universidade Federal de Minas Gerais (UFMG)Belo HorizonteBrazil
  2. 2.Computer and Mechanics Department – Centro Federal de Educação Tecnológica de Minas Gerais (CEFET-MG)LeopoldinaBrazil

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