Optimal sensor scheduling for resource-constrained localization of mobile robot formations

@article{Mourikis2006OptimalSS,
  title={Optimal sensor scheduling for resource-constrained localization of mobile robot formations},
  author={Anastasios I. Mourikis and Stergios I. Roumeliotis},
  journal={IEEE Transactions on Robotics},
  year={2006},
  volume={22},
  pages={917-931}
}
This paper addresses the problem of resource allocation in formations of mobile robots localizing as a group. Each robot receives measurements from various sensors that provide relative (robot-to-robot) and absolute positioning information. Constraints on the sensors' bandwidth, as well as communication and processing requirements, limit the number of measurements that are available or can be processed at each time step. The localization uncertainty of the group, determined by the covariance… CONTINUE READING
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