Tetrahedron and Euclidean Distance Based Decentralized Relative Localization for Multi-Robot Systems

Abstract

Co-ordination tasks of multiple robots as a system which consists of large numbers of physical mobile robots requires the relative localization. Thus required localization problem can be solved, if relative Euclidean Distance between each pair of robots in the system is known. This paper proposes the decentralized relative localization system consisting of the novel tetrahedral arrangement of Relative Signal Strength-based measurement sensors. The system model is also discussed, with the constructional and design features. This approach brings together a recent single range localization solution with a tetrahedron based elevation detection technique if visual and geometrical space constraints are present. Possibilities of System Recovery under breakdown conditions and Simulation Results showing the effectiveness of the proposed solution are discussed further. The proposed system has high impact applications in fields like Aerial and Marine Swarm Robotics, Localization in Unknown Terrain, Airfield-based Aircraft Location Tracking, Space-Based X / Gamma Rays Source Identification etc.