Distributed Cooperative Outdoor Multirobot Localization and Mapping

  title={Distributed Cooperative Outdoor Multirobot Localization and Mapping},
  author={Raj Madhavan and Kingsley Fregene and Lynne E. Parker},
  journal={Auton. Robots},
The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of… CONTINUE READING
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