|Title||Mutual Localization in a Multi-Robot System with Anonymous Relative Position Measures|
|Year of Publication||2009|
|Authors||Franchi, A, Oriolo, G, Stegagno, P|
|Institution||Department of Computer and System Sciences Antonio Ruberti|
|Keywords||Distributed algorithms, Estimation, Localization, Multi-robot systems|
In this paper we formulate and solve the mutual localization problem for a multi-robot system under the assumption of anonymous relative position measures. The anonymity hypothesis can cause a combinatorial ambiguity in the inversion of the measure equation giving more than one possible solution to the problem. We propose MultiReg, an innovative algorithm aimed at obtaining sets ofpossible relative pose hypotheses, whose output is processed by a data associator and a multiple EKF to select the best hypothesis. We study the performance of the developed localization system using both simulations and real robot experiments.