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CLC number: TP18
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Received: 2003-09-24
Revision Accepted: 2003-12-22
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Graph rigidity and localization of multi-robot formations
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ZHANG Fan. Graph rigidity and localization of multi-robot formations[J]. Journal of Zhejiang University Science A, 2004, 5(5): 558-566.
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publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2004.0558"
}
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Abstract: 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.
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