A Beacon System for the Localization of Distributed Robotic Teams - Robotics Institute Carnegie Mellon University

A Beacon System for the Localization of Distributed Robotic Teams

Luis Ernesto Navarro-Serment, Chris Paredis, and Pradeep Khosla
Conference Paper, Proceedings of 2nd International Conference on Field and Service Robotics (FSR '99), pp. 232 - 237, August, 1999

Abstract

This paper presents the design of a localization system for a team of centimeter-scale robots that collaborate to map and explore unknown environments. The localization system uses ultrasound to measure the distance from each moving robot to three stationary robots that serve as beacons. From these distance measurements the position of the robots is derived using a trilateration algorithm. The robot team can move over large distances by using a leap-frogging approach in which different robots serve as beacons at different times. The localization system is able to obtain position estimates more accurate than can be achieved through dead reckoning, and yet, does not require any landmarks or previously deployed beacons.

BibTeX

@conference{Navarro-Serment-1999-14977,
author = {Luis Ernesto Navarro-Serment and Chris Paredis and Pradeep Khosla},
title = {A Beacon System for the Localization of Distributed Robotic Teams},
booktitle = {Proceedings of 2nd International Conference on Field and Service Robotics (FSR '99)},
year = {1999},
month = {August},
pages = {232 - 237},
}