Abstract
In this paper we describe a cooperative localization algorithm based on a modification of the Monte Carlo Localization algorithm where, when a robot detects it is lost, particles are spread not uniformly in the state space, but rather according to the information on the location of an object whose distance and bearing is measured by the lost robot. The object location is provided by other robots of the same team using explicit (wireless) communication. Results of application of the method to a team of real robots are presented.
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Lima, P.U., Santos, P., Oliveira, R., Ahmad, A., Santos, J. (2011). Cooperative Localization Based on Visually Shared Objects. In: Ruiz-del-Solar, J., Chown, E., Plöger, P.G. (eds) RoboCup 2010: Robot Soccer World Cup XIV. RoboCup 2010. Lecture Notes in Computer Science(), vol 6556. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20217-9_30
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DOI: https://doi.org/10.1007/978-3-642-20217-9_30
Publisher Name: Springer, Berlin, Heidelberg
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