Citation Context

...ation, Random algorithms 1 Introduction and Motivation Recently there has been a lot of interest in networks of sensing agents which act cooperatively to obtain the best estimate possible, e.g., see (=-=Roumeliotis and Bekey 2002-=-, Hall and Llinas 1997, Viswanathan and Varshney 1997) and the references therein. While such a scheme admittedly has higher complexity than the strategy of treating each sensor independently, the inc...

Citation Context

...entally distributed. One exception is some of the work in multi-robot localization, which takes advantage of multiple robots to improve positioning accuracy beyond what is possible with single robots =-=[42,19]-=-. As is the case with single robot approaches to localization, mapping, and exploration, research into the multi-robot version can be described using the familiar categories based on the use of landma...

Citation Context

...peratively trapping and moving objects [7]. Tracking via vision is also used for relative localization of collaborators in an autonomous mobile cleaning system [8]. In work by Roumeliotis et al. [9], =-=[10]-=-, collaborative localization is performed using a distributed stochastic estimation algorithm. Cooperative navigation of autonomous underwater vehicles has been performed in work by Singh et al. [11]....

Citation Context

...ating interactivity and other social phenomena (Gilbert and Doran, 1994), in robotics where a frequently encountered problem is how a group of robots can localize themselves within their environment (=-=Roumeliotis and Bekey, 2002-=-), and in virtual reality and computer games where the challenge is to build agents that exhibit intelligent behavior (Terzopoulos, 1999). Finally, an application of MASs that has recently gained popu...

Citation Context

...e issues and to understand the role they play in mobile sensor networks in general. Additionally, we can begin to investigate the relaxation of assumptions such as perfect localization of the sensors =-=[30]-=-, which will reflect the existence of a more realistic, albeit noisy, world. Also, we hope to examine the behavior of our algorithm under network constraints such as network connectedness [31] and oth...

Citation Context

.... Most approaches to the target tracking problem rely on stationary sensors, and active sensing aims to leverage the mobility of the sensors to get better tracking performance, typically in error estimates, and this requires additional motion controller design. Given the estimation error covariance matrix P , we can use any of tr(P ), det(P ) λmax(P ) as the performance measure. Entropy-based information measures are also available [9]. A very similar class of problems is distributed localization, where a group of mobile robots try to localize themselves by measuring distances to other agents [16] or landmarks [6]. Empirical tests in [8] showed the localization accuracy increases dramatically by actively controlling each robot’s motion direction and sensor heading. This work was supported in part by NSF grants IIS-0308224 and ECS0115317, and ECS-0601661. Peng Yang and Kevin Lynch are with the Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA p-yang@northwestern.edu, kmlynch@northwestern.edu. Randy Freeman is with the Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL 60208, USA freeman@ece.northwestern.e...

Citation Context

...ch as distance, bearing and orientation) to jointly estimate their poses, resulting in increased accuracy for the entire team. Recently, estimation algorithms such as the Extended Kalman Filter (EKF) =-=[4]-=-, Maximum Likelihood Estimation (MLE) [5], and Particle Filters [6], have been used to solve the CL problem. In most cases, however, these algorithms require that all robot measurements are communicat...

Citation Context

...d, as robots are likely to spread and explore different parts, the problem of combining different maps together arises. Multirobot mapping and localization gained quite some attention in the past [14]=-=[15]-=-[19]. But, as pointed 5 Figure 2: An occupancy grid produced by the robot while exploring the hall of a building. Green colored cells are cells for which the majority of votes indicates it is free. Re...