Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems
This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2016-01-01
|
Series: | Journal of Robotics |
Online Access: | http://dx.doi.org/10.1155/2016/2560573 |