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Communication Dans Un Congrès Année : 2007

Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1

Jihong Lee
  • Fonction : Auteur
  • PersonId : 845206
Kyounghwan Jo
  • Fonction : Auteur
  • PersonId : 845207
Choulsoo Jang
  • Fonction : Auteur
  • PersonId : 845208

Résumé

This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot's position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, it is confirmed that the proposed method provides improved localization accuracy [9]. In addition, we present a practical solution to accumulated position error in traveling long distance.
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Dates et versions

inria-00195697 , version 1 (11-12-2007)

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  • HAL Id : inria-00195697 , version 1

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Jihong Lee, Kyounghwan Jo, Choulsoo Jang. Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00195697⟩

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