Distributed sensor fusion for object position estimation by multi-robot systems
- 13 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1092-1098
- https://doi.org/10.1109/robot.2001.932739
Abstract
We present a method for representing, communicating and fusing distributed, noisy and uncertain observations of an object by multiple robots. The approach relies on re-parameterization of the canonical two- dimensional Gaussian distribution that corresponds more naturally to the observation space of a robot. The approach enables two or more observers to achieve greater effective sensor coverage of the environment and improved accuracy in object position estimation. We demonstrate empirically that, when using our approach, more observers achieve more accurate estimations of an object's position. The method is tested in three application areas, including object location, object tracking, and ball position estimation for robotic soccer. Quantitative evaluations of the technique in use on mobile robots are provided.Keywords
This publication has 15 references indexed in Scilit:
- Cooperative path planning and navigation based on distributed sensingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Detection and handling of moving objectsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Information sharing among multiple robots for cooperation in cellular robotic systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- From Multiple Images to a Consistent ViewPublished by Springer Nature ,2001
- Mobile Robot Self-Localization without Explicit LandmarksAlgorithmica, 2000
- Sensor data fusion using Kalman filterPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- RMIT RaidersPublished by Springer Nature ,2000
- ART99 - Azzurra Robot TeamPublished by Springer Nature ,2000
- Design of Kalman filters for mobile robots; evaluation of the kinematic and odometric approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1999
- The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer SkillsPublished by Springer Nature ,1999