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Conference Towards Autonomous Robotic Systems

TAROS 2013: Towards Autonomous Robotic Systems pp 161–172Cite as

Vision-Based Cooperative Localization for Small Networked Robot Teams

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8069))

Abstract

We describe the development of a vision-based cooperative localization and tracking framework for a team of small autonomous ground robots operating in an indoor environment. The objective is to enable a team of small mobile ground robots with limited sensing to explore, monitor, and search for objects of interest in regions in the workspace that may be inaccessible to larger mobile ground robots. In this work, we describe a vision-based cooperative localization and tracking framework for a team of small networked ground robots. We assume each robot is equipped with an LED-based identifier/marker, a color camera, wheel encoders, and wireless communication capabilities. Cooperative localization and tracking is achieved using the on-board cameras and local inter-agent communication. We describe our approach and present experimental and simulation results where a team of small ground vehicles cooperatively track other ground robots as they move around the workspace.

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Author information

Authors and Affiliations

  1. Scalable Autonomous Systems Lab, Drexel University, Philadelphia, PA, 19104, USA

    James Milligan & M. Ani Hsieh

  2. VeRLab Computer Science Department, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil

    Luiz Chaimowicz

Authors
  1. James Milligan
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  2. M. Ani Hsieh
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  3. Luiz Chaimowicz
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Corresponding author

Correspondence to M. Ani Hsieh .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Ashutosh Natraj

  2. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Stephen Cameron

  3. University of Bristol and the West of En, Bristol, United Kingdom

    Chris Melhuish

  4. Imperial College London Department of Electrical and Electronic, London, United Kingdom

    Mark Witkowski

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© 2014 Springer-Verlag Berlin Heidelberg

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Milligan, J., Ani Hsieh, M., Chaimowicz, L. (2014). Vision-Based Cooperative Localization for Small Networked Robot Teams. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_17

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  • DOI: https://doi.org/10.1007/978-3-662-43645-5_17

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-43644-8

  • Online ISBN: 978-3-662-43645-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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