Rotating Triangles Landmark for Indoor Multi-robot Localization

Abstract

This paper presents a novel landmark generating method for robust multi-robot localization and tracking. Although the conventional approaches are able to generate a number of landmarks, they often tend to misjudge or ignore some landmark in particular environment. Analyzing those methods, we suggest the new landmark that is referred to here as Rotating Triangles (RT) landmark. RT landmark implemented in intelligent space (iSpace) is shown, and it is compared and evaluated with a landmark based on QR code and ShotCode (QR/Shot). The experimental results show that RT landmark has better performance in terms of recognition score and error. 