On utilizing geometric formations for minimizing uncertainty in 3 robot teams
2004 (English)In: Proceedings of The 8th Conference on Intelligent Autonomous Systems, IAS-8, Amsterdam, Netherlands, 10th–12th March, 2004, , 100-110 p.100-110 p.Conference paper (Refereed)
This paper presents work in progress, aiming to find models that can be used as guidelines in how to best deploy a team of robots to solve given tasks. The motive is to provide an insight into the utility in fusing position information communicated within the team, in aspect of increased accuracy in position and orientation estimate. The minimum configuration of three robots is studied. The robots are equipped with camera-like sensors that make omni directional bearing measurements to eachother. To reduce the free variables the formations are restricted so that two subordinate robots are located at the same distance to a master robot. For this configuration the information matrix is explored. A few formations are chosen and studied further, through simulations. The simulations show that there exists a breakpoint in traveled distance, where the formation minimizing orientation uncertainty for the master robot, changes from a column-formation to a line formation. The simulations also show that a line or column formations are not a good choice when balansed position uncertainty is required. In the case of balansing position uncertainty, a triangular formation is better.
Place, publisher, year, edition, pages
2004. , 100-110 p.100-110 p.
Geometric formations, minimize uncertainty
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-15319ISBN: 9781586034146OAI: oai:DiVA.org:liu-15319DiVA: diva2:113896