Abstract
In a previous paper [1], we proposed a new approach to the simultaneous cooperative localization of a very large group of simple robots capable of performing dead-reckoning and sensing the relative position of nearby robots. The idea behind the proposed averaging process is the following: every time two robots meet, they simply average their location estimates. This paper extends the results of [1] by considering noisy relative location measurements and by presenting a novel analysis based on the Well Mixing Movement Pattern assumption. The results of this paper are more precise than what was previously reported. Nevertheless, when considering the limit of a large group of robots, and after a long “stabilization” time, the final results turn out to be identical.
Keywords
- Localization Error
- Relative Location
- Main Diagonal
- Constant Component
- Cooperative Localization
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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References
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© 2012 Springer-Verlag Berlin Heidelberg
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Elor, Y., Bruckstein, A.M. (2012). A “Thermodynamic” Approach to Multi-robot Cooperative Localization with Noisy Sensors. In: Dorigo, M., et al. Swarm Intelligence. ANTS 2012. Lecture Notes in Computer Science, vol 7461. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32650-9_18
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DOI: https://doi.org/10.1007/978-3-642-32650-9_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32649-3
Online ISBN: 978-3-642-32650-9
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