General detection model in cooperative multirobot localization

Valguima Victoria Viana Aguiar OdakuraReinaldo Augusto da Costa BianchiAnna Helena Reali Costa

The cooperative multirobot localization problem consists in localizing each robot in a group within the sameenvironment, when robots share information in order to improve localization accuracy. It can be achieved when a robotdetects and identifies another one, and measures their relative distance. At this moment, both robots can use detectioninformation to update their own poses beliefs. However some other useful information besides single detection between a pairof robots can be used to update robots poses beliefs as: propagation of a single detection for non participants robots, absenceof detections and detection involving more than a pair of robots. A general detection model is proposed in order to aggregateall detection information, addressing the problem of updating poses beliefs in all situations depicted. Experimental results insimulated environment with groups of robots show that the proposed model improves localization accuracy when comparedto conventional single detection multirobot localization.

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