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    Relative localization and identification in a heterogeneous multi-robot system


    Stegagno, Paolo and Cognetti, Marco and Rosa, Lorenzo and Peliti, Pietro and Oriolo, Giuseppe (2013) Relative localization and identification in a heterogeneous multi-robot system. 2013 IEEE International Conference on Robotics and Automation. pp. 1857-1864. ISSN 1050-4729

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    Abstract

    We develop a localization method for a single-UAV/multi-UGV heterogeneous system of robots. Considering the natural supervisory role of the UAV and the challenging (but realistic) assumption that the UAV-to-UGV measurements do not include the identities of the UGVs, we have adopted the PHD filter as a multi-target tracking technique. However, the standard version of this filter does not take into account odometric information coming from the targets, nor does it solve the problem of estimating their identities. Hence, we design ID-PHD, a modification of the PHD filter that is able to reconstruct the identities of the targets by incorporating odometric data. The proposed localization method has been successfully validated through experiments. Some preliminary results of a localization-based control scheme for the multi-robot system are also presented.

    Item Type: Article
    Keywords: Relative; localization; identification; heterogeneous; multi-robot system;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 15343
    Identification Number: https://doi.org/10.1109/ICRA.2013.6630822
    Depositing User: Marco Cognetti
    Date Deposited: 25 Jan 2022 15:23
    Journal or Publication Title: 2013 IEEE International Conference on Robotics and Automation
    Publisher: IEEE
    Refereed: Yes
    URI:

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