Multirobot Localisation Using Interlaced Extended Kalman Filter

@article{Panzieri2006MultirobotLU,
  title={Multirobot Localisation Using Interlaced Extended Kalman Filter},
  author={Stefano Panzieri and Federica Pascucci and Roberto Setola},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={2816-2821}
}
This paper deals with a new approach to multi robot localization. An Interlaced extended Kalman filter is shown to be a good solution to the problem of estimating the pose of a team of robots with a fully decentralized algorithm. Moreover, it is feasible to dynamically "correct" the estimation autonomously evaluated by each single robot, updating this quantity anytime two robots randomly come across. The algorithm combines the robustness of a full state EKF with the simplicity of its interlaced… CONTINUE READING
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