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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2004, Vol. 5 Issue (5): 558-566    DOI: 10.1631/jzus.2004.0558
Computer & Information Science     
Graph rigidity and localization of multi-robot formations
ZHANG Fan
General Robotics Automation Sensing and Perception Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA
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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.

Key words： Cooperative localization      Graph rigidity      Multi-robot formation     
Received: 24 September 2003     
CLC:  TP18  
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ZHANG Fan. Graph rigidity and localization of multi-robot formations. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2004, 5(5): 558-566.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2004.0558     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2004/V5/I5/558

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