Optimized motion strategies for cooperative localization of mobile robots
Nikolas Trawny, Timothy D. Barfoot · 2004
This work presents an approach to optimizing entire trajectories for a group of mobile robots that use one another as localization beacons. The cost function we seek to optimize is a measure of localization uncertainty (as opposed to distance travelled or time). Our initial findings show that, for example, it is possible to improve on the intuitive equilateral-triangle formation for three robots.