Robotics Research Lab
Center for Robotics and Embedded Systems
Bio & CV
Player, Stage and Gazebo
Cooperative Relative Localization: An Ego-Centric Approach
We are investigating cooperative methods for relative localization of
mobile robot teams; this is, methods whereby every robot
in the team can estimate the pose of every other robot, relative to
itself. Crucially, our chosen method does not require the use GPS, landmarks, or
maps of any kind; instead, robots make direct measurements of the relative
pose of nearby robots, and broadcast this information to the team as a whole.
Each robot processes this information independently to generate an
The figure below illustrates the six basic rules used to update these independant ego-centric estimates (the actual estimates are maintained using a particle filter).
Movies showing the results from a four-robot localization experiment can be found here:
Andrew Howard, Maja J Mataric´ and Gaurav S Sukhatme, "Putting the `I' in `Team': An Ego-Centric Approach to Cooperative Localization", Proceedings of the IEEE International Conference on Robotics an Automation (ICRA03), pages 868--892, Taipei, Taiwan, September 2003
This work is sponsored in part by DARPA grants DABT63-99-1-0015 and 5-39509-A (via UPenn) under the Mobile Autonomous Robot Software (MARS) program.