Graph rigidity and localization of multi-robot formations
Graph rigidity and localization of multi-robot formations
复制标题
多机器人编队的图刚性和定位
DOI：
10.1631/jzus.2004.0558
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Fan Zhang
中科院分区：
文献类型：
--
作者：
Fan Zhang
本文为多机器人编队定位问题提供了理论基础。提出了基于分布式传感器网络和图刚性的 SE(2) 中移动机器人/车辆编队完全本地化的充分必要条件。提出了一种通过线性加权最小二乘算法估计定位质量的方法，该算法考虑了不完整和噪声的感官信息。本文的方法已在由五个配备全向摄像头和 IEEE 802.11b 无线网络的汽车机器人组成的多机器人系统中实现。
This paper provides theoretical foundation for the problem of localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.