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

  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},
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
Highly Cited
This paper has 110 citations. REVIEW CITATIONS
61 Citations
26 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 61 extracted citations

110 Citations

Citations per Year
Semantic Scholar estimates that this publication has 110 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 26 references

Monotonicity and convexity properties of matrix Riccati equations,

  • G. Freiling, V. Ionescu
  • IMA J. Math. Control Inf.,
  • 2001
Highly Influential
3 Excerpts

Similar Papers

Loading similar papers…