Multiple Robot Formation Keeping and Cooperative Localization by Panoramic View

Title
Multiple Robot Formation Keeping and Cooperative Localization by Panoramic View
Authors
강현덕곽재혁김창환조강현
Keywords
formation keeping; multiple robot; panoramic view; Cooperative localization
Issue Date
2009-08
Publisher
ICROS-SICE International Joint Conference 2009
Citation
, 3509-3513
Abstract
This paper describes the method of formation keeping and cooperative localization of multiple robots with panoramic view. It is to estimate a location of robot in panoramic image with 360 field of view horizontally and then to compute the relative distance between the robots by triangulation. This method is able to control predefined formation when a robot extracts other robot and landmark in panoramic view and also estimates the geometric correspondence between robots and landmarks. Moreover, Proposed method is independent with a displacement sensor such as GPS, inertial and so. If the sensory information such as GPS or inertial data is interrupted which the robot moves into a tunnel or forest and so.
URI
http://pubs.kist.re.kr/handle/201004/35862
Appears in Collections:
KIST Publication > Conference Paper
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