Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF

Abstract

Recently, multi-robot systems are emerging in various industries. The multi-robot systems have several advantages in comparison with a single-robot system. The task of single-robot system is limited, because a bigger robot is required to perform more multiple functions. However, multi-robot systems can distribute the functions to each robot. The localization problem is essential for realization and it becomes more important in the multi-robot system. The multi-robot system needs to work maintaining a formation. In order to accomplish the given mission in the demanded formation, the localization is important. For multi-robot localization, we use the relative position to find robots' position based on odometry sensor, and the iterative Kalman filter algorithm is utilized to estimate the accurate position.