Effects on Uncertainty Utilizing Formation-Planning in Robot Teams
2004 (English)In: Proceedings of The 5th Symposium on Intelligent Autonomous Vehicles, IAV 2004, Lisbon, Portugal, 5th–7th July 2004, 2004Conference 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 moving over a flat surface is studied. The robots are equipped with omni-directional cameralike sensors that make bearing measurements to each other. 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 derived and studied. There are numerical results presented that indicate how the uncertainty of the master robot changes depending of the bearing to the subordinate robots and the distance traveled.
Place, publisher, year, edition, pages
Multi-Robot, Cooperative, Formation, Localization
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-15320OAI: oai:DiVA.org:liu-15320DiVA: diva2:113897