Graph-based Distributed Cooperative Navigation
This paper addresses the problem of distributed cooperative navigation. A new graph-based method is developed for on-demand calculation of the required correlation terms, considering a general multi-robot measurement model. These correlation terms are necessary for the consistent EKF-based data fusion when several statistically-dependent sources of information are used. The measurement model relates between the navigation information transmitted by any number of robots and the actual readings taken by the available onboard sensors. The transmitted information is not necessarily of the current time instant, but may actually belong to some time instant from the past. Experiment results and a theoretical example of the developed method are presented considering a three-view measurement, formulated upon receiving three images of the same scene, captured by different robots at different a priori unknown time instances.
Vadim Indelman Pini Gurfil Ehud Rivlin Hector Rotstein
Faculty of Aerospace Engineering,Technion - Israel Institute of Technology,Haifa 32000,Israel Department of Computer Science,Technion-Department of Computer Science,Technion RAFAEL - Advanced Defense Systems Limited,Israel
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4786-4791
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）