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2015 | OriginalPaper | Chapter

Multi-robot Localization by Observation Merging

Authors : Ahmet Erdem, H. Levent Akın

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

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Abstract

In robot soccer, self-localization of robots may fail because of perception failure, falling down or by being pushed by another robot. In this study, our goal is to improve self localization of robots using the teammate robots’ perceptions. Robots which have perceived more landmarks and have moved less can share their localization and observations with other robots to improve localization accuracy. Currently, in the RoboCup Standard Platform League it is not feasible to identify the jersey number of robots using vision. Therefore, we merge perceptions of all robots depending on their reliability, and then identify them in a probabilistic manner to increase localization performance and provide a common world model that can be used for planning. We show that our approach has a significant advantage with respect to single robot localization on estimating the poses of the robots.

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Metadata
Title
Multi-robot Localization by Observation Merging
Authors
Ahmet Erdem
H. Levent Akın
Copyright Year
2015
Book
RoboCup 2014: Robot World Cup XVIII

Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18615-3_39

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