This paper presents an EKF-based approach to the problem of robot formation pose tracking in SLAM when a previously built feature-based stochastic map of a navigation area is available. We show how a direct implementation of the EKF algorithm leads to inconsistency in the estimated localization. We justify the origin of the anomalous behaviour of the filter in the time-correlated nature of the measurement noise sequence. A novel solution based on the measurement differencing technique is proposed to drive the solution of the EKF towards consistency. Both simulation and real experiments with a 3-robot triangular-shaped formation are reported. ©2010 IEEE.
Localization of probabilistic robot formations in SLAM / LAZARO GRANON, MARIA TERESA; Castellanos, J. A.. - (2010), pp. 3179-3184. (Intervento presentato al convegno 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 tenutosi a Anchorage; United States nel 2010) [10.1109/ROBOT.2010.5509213].
Localization of probabilistic robot formations in SLAM
LAZARO GRANON, MARIA TERESA;
2010
Abstract
This paper presents an EKF-based approach to the problem of robot formation pose tracking in SLAM when a previously built feature-based stochastic map of a navigation area is available. We show how a direct implementation of the EKF algorithm leads to inconsistency in the estimated localization. We justify the origin of the anomalous behaviour of the filter in the time-correlated nature of the measurement noise sequence. A novel solution based on the measurement differencing technique is proposed to drive the solution of the EKF towards consistency. Both simulation and real experiments with a 3-robot triangular-shaped formation are reported. ©2010 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
