PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION
Fernando Gómez-Bravo, Alberto Vale, Maria Isabel Ribeiro · 2006
Abstract: This paper proposes a Particle-Filter approach and a set of motion strategies to cooperatively localize a team of three robots. The allocated mission consists on the path following of a closed trajectory and obstacle avoidance in isolated and unstructured scenarios. The localization methodology required for the correct path following relies on distance and orientation measurements among the robots and the robots and a fixed active beacon. Simulation results are presented. 1