Motion estimation with cooperatively working multiple robots

Guleser K. Demir, Richard M. Voyles, Amy C. Larson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We have investigated the performance of simultaneously estimating the 3D motion and structure for navigation when the scale information is obtained by utilizing the cooperative efforts of multiple robots. The method determines the relative positions of robots by tracking a specific geometric feature that is part of their structure, and then uses the Extended Kalman Filter to estimate the motion and structure. For implementation we used two CRAWLER Scouts, and performed several experiments to explore the effects of cooperative running of robots on the motion estimation.

Original languageEnglish (US)
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1556-1561
Number of pages6
StatePublished - Dec 1 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

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