Leap-Frog Path Design for Multi-Robot Cooperative Localization

@inproceedings{Tully2009LeapFrogPD,
  title={Leap-Frog Path Design for Multi-Robot Cooperative Localization},
  author={Stephen Tully and George Kantor and Howie Choset},
  booktitle={FSR},
  year={2009}
}
We present a “leap-frog” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path that provides informative measurements. After completing the move, the roles of each robot are switched and the path is repeated. We demonstrate accurate localization using this path via a coverage experiment in which three robots successfully cover a 20m x 30m area. We report an approximate positional drift of 1… CONTINUE READING
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