Abstract
Localization is an enabling technology, and a prerequisite for a wide range of robotic tasks. Despite the large amount of work already done in this domain, to date, the solution to the localization problem for fully decentralized, largescale multi-robot systems is still an open question. In this chapter, we contribute to this particular problem outline by proposing a low-cost method: we describe a fully decentralized algorithm, particularly designed for resource-limited robotic platforms in large-scale systems. In the following sections, we elaborate the components of our method, and demonstrate the utility of our low-cost localization algorithm on groups of up to ten real mobile robots. This chapter is rounded off by bringing our approach into a larger perspective, and by discussing its potential as well as its limitations.
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Prorok, A., Bahr, A., Martinoli, A. (2013). Low-Cost Multi-robot Localization. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_2
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DOI: https://doi.org/10.1007/978-3-642-33971-4_2
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