Cooperative Localization Based on Visually Shared Objects

  • Pedro U. Lima
  • Pedro Santos
  • Ricardo Oliveira
  • Aamir Ahmad
  • João Santos
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


In this paper we describe a cooperative localization algorithm based on a modification of the Monte Carlo Localization algorithm where, when a robot detects it is lost, particles are spread not uniformly in the state space, but rather according to the information on the location of an object whose distance and bearing is measured by the lost robot. The object location is provided by other robots of the same team using explicit (wireless) communication. Results of application of the method to a team of real robots are presented.


Mobile Robot Object Position Local Frame Ball Position Real Robot 
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-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Pedro U. Lima
    • 1
    • 2
  • Pedro Santos
    • 1
  • Ricardo Oliveira
    • 1
  • Aamir Ahmad
    • 1
  • João Santos
    • 1
  1. 1.Institute for Systems and RoboticsInstituto Superior TécnicoLisboaPortugal
  2. 2.Universidad Carlos III de MadridLeganésSpain

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