CUED Publications database

Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements

Guo, M and Jayawardhana, B and Lee, JG and Shim, H (2020) Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements. In: UNSPECIFIED pp. 9614-9620..

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Abstract

This paper investigates the problem of localizing a team of robots in an indoor environment while simultaneously keeping a robust formation and performing group motion. A distributed observer is proposed to estimate the positions of mobile robots as well as the landmarks under a common global frame. Every robot uses its available local relative measurements, as well as the estimated relative measurements to its neighbors in order to keep a robust formation. Simultaneously, each robot estimates the positions of all the landmarks based on the available on-board relative measurements but also based on the estimated positions from its neighbors. We provide the L2-stability analysis of the closed-loop system where the group is also allowed to maneuver in the unknown environment. Simulation results are also given to show the efficacy of the method.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 25 Jun 2021 23:02
Last Modified: 15 Jul 2021 05:50
DOI: 10.1016/j.ifacol.2020.12.2454