We propose a decentralized method to perform mutual localization in multi-robot systems using anonymous relative measurements, i.e. measurements that do not include the identity of the measured robot. This is a challenging and practically relevant operating scenario that has received little attention in the literature. Our mutual localization algorithm includes two main components: a probabilistic multiple registration stage, which provides all data associations that are consistent with the relative robot measurements and the current belief, and a dynamic filtering stage, which incorporates odometric data into the estimation process. The design of the proposed method proceeds from a detailed formal analysis of the implications of anonymity on the mutual localization problem. Experimental results on a team of differential-drive robots illustrate the effectiveness of the approach, and in particular its robustness against false positives and negatives that may affect the robot measurement process. We also provide an experimental comparison that shows how the proposed method outperforms more classical approaches that may be designed building on existing techniques. The source code of the proposed method is available within the MLAM ROS stack.

Mutual localization in multi-robot systems using anonymous relative measurements / Franchi, Antonio; Oriolo, Giuseppe; Stegagno, Paolo. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - STAMPA. - 32:11(2013), pp. 1302-1322. [10.1177/0278364913495425]

Mutual localization in multi-robot systems using anonymous relative measurements

FRANCHI, ANTONIO;ORIOLO, Giuseppe;STEGAGNO, PAOLO
2013

Abstract

We propose a decentralized method to perform mutual localization in multi-robot systems using anonymous relative measurements, i.e. measurements that do not include the identity of the measured robot. This is a challenging and practically relevant operating scenario that has received little attention in the literature. Our mutual localization algorithm includes two main components: a probabilistic multiple registration stage, which provides all data associations that are consistent with the relative robot measurements and the current belief, and a dynamic filtering stage, which incorporates odometric data into the estimation process. The design of the proposed method proceeds from a detailed formal analysis of the implications of anonymity on the mutual localization problem. Experimental results on a team of differential-drive robots illustrate the effectiveness of the approach, and in particular its robustness against false positives and negatives that may affect the robot measurement process. We also provide an experimental comparison that shows how the proposed method outperforms more classical approaches that may be designed building on existing techniques. The source code of the proposed method is available within the MLAM ROS stack.
anonymous measurements; ekf; localization; mobile robots; multi-robot localization; particle filters; range finders; ransac; relative measurements; unknown data-association
01 Pubblicazione su rivista::01a Articolo in rivista
Mutual localization in multi-robot systems using anonymous relative measurements / Franchi, Antonio; Oriolo, Giuseppe; Stegagno, Paolo. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - STAMPA. - 32:11(2013), pp. 1302-1322. [10.1177/0278364913495425]
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