Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32119
Estimating Localization Network Node Positions with a Multi-Robot System

Authors: Mikko Elomaa, Aarne Halme


A novel method using bearing-only SLAM to estimate node positions of a localization network is proposed. A group of simple robots are used to estimate the position of each node. Each node has a unique ID, which it can communicate to a robot close by. Initially the node IDs and positions are unknown. A case example using RFID technology in the localization network is introduced.

Keywords: Localization network, Multi-robot, RFID, SLAM

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 985


[1] E. D. Nerurkar and S. I. Roumeliotis, "Power-slam: A linear-complexity, consistent algorithm for slam," in International Conference on Intelligent Robots and Systems, 2007. IROS 2007, 2007, pp. 636-643.
[2] R. Smith, M. Self, and P. Cheeseman, Estimating uncertain spatial relationships in robotics, set Autonomous robot vehicles. Springer¬Verlag New York, Inc., 1990, pp. 167-193.
[3] P. Newman and K. Ho, "Slam-loop closing with visually salient fea-tures," in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2005, pp. 635-642.
[4] S. B. Williams, G. Dissanayake, and H. Durrant-Whyte, "An efficient approach to the simultaneous localisation and mapping problem," in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE Interna-tional Conference on, vol. 1, 2002, pp. 406-411 vol.1.
[5] M. Montemerlo, "Fastslam: A factored solution to the simultaneous localization and mapping problem," in Proceedings of the AAAI National Conference on Artificial Intelligence. AAAI, 2002, pp. 593-598.
[6] R. Kurazume, S. Nagata, and S. Hirose, "Cooperative positioning with multiple robots," in Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, 1994, pp. 1250-1257 vol.2.
[7] I. Rekleitis, G. Dudek, and E. Milios, "Probabilistic cooperative local-ization and mapping in practice," in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, vol. 2, 2003, pp. 1907-1912 vol.2.
[8] Y. S. Hidaka, A. I. Mourikis, and S. I. Roumeliotis, "Optimal formations for cooperative localization of mobile robots," in Robotics and Automa¬tion, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2005, pp. 4126-4131.
[9] L. A. A. Andersson and J. Nygards, "On utilizing geometric formations for minimizing uncertainty in 3 robot teams," Robotics / Autonomous Mechanical Systems, Linkping University, Tech. Rep., 2008.
[10] A. Howard, L. E. Parker, and G. S. Sukhatme, "The sdr experience: Experiments with a large-scale heterogenous mobile robot team," in In 9th International Symposium on Experimental Robotics, 2004.
[11] H. J. Chang, C. S. G. Lee, Y. C. Hu, and Y.-H. Lu, "Multi-robot slam with topological/metric maps," in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 1467¬1472.
[12] X. S. Zhou and S. I. Roumeliotis, "Multi-robot slam with unknown initial correspondence: The robot rendezvous case," in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 1785¬1792.
[13] S. Thrun and Y. Liu, "Multi-robot slam with sparse extended information filers," in Proceedings of the 11th International Symposium of Robotics Research (ISRR'03). Sienna, Italy: Springer, 2003.
[14] R. Martinez-Cantin, J. A. Castellanos, and N. de Freitas, "Multi-robot marginal-slam," IJCAI Workshop on Multi-Robotic Systems for Societal Applications, 2007.
[15] A. Kleiner, J. Prediger, and B. Nebel, "Rfid technology-based explo-ration and slam for search and rescue," in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 4054-4059.
[16] 0. Kubitz, M. Berger, M. Perlick, and R. Dumoulin, "Application of ra-dio frequency identification devices to support navigation of autonomous mobile robots," in Vehicular Technology Conference, 1997 IEEE 47th, vol. 1, 4-7 1997, pp. 126 —130 vol.1.
[17] J. Bohn, "Prototypical implementation of location-aware services based on super-distributed rfid tags," in In: Proceedings of the 19th Inter-national Conference on Architecture of Computing Systems (ARCS06), Frankfurt am Main, Germany. Number 3894 in LNCS, Springer-Verlag. Springer, 2006, pp. 69-83.
[18] Herianto, T. Sakakibara, and D. Kurabayashi, "Artificial pheromone system using rfid for navigation of autonomous robots," Journal of Bionic Engineering, vol. 4, no. 4, pp. 245 — 253, 2007.
[19] D. Hahnel, W. Burgard, D. Fox, K. Fishkin, and M. Philipose, "Mapping and localization with rfid technology," in Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol. 1, 2004, pp. 1015-1020 Vol.1.