Localization and Topology Estimation of Robotic Swarm Using Kalman Filter
Hyun-Joong Yoon, Kasra Eshaghi, Goldie Nejat, Beno Benhabib · Journal of Institute of Control Robotics and Systems · 2022
This paper addresses the localization and topology estimation for a robotic swarm. The concept of a swarm, a conceptual group of robots, has been used for more effective navigation of the robotic swarm. Localization is an optimization problem to determine the pose—or the position and orientation—of the swarm, while topology estimation is an optimization problem to determine the formation of the robots in the swarm. Optimization approaches have been proposed for the localization and topology estimation problems that combine sensor-based and movement command-based estimation using a Kalman filter. The simulation results are presented to demonstrate the effectiveness of the proposed method.