Distributed Multi-Robot Localization

摘要

In this chapter, the design of a completely decentralized and distributed multi-robot localization algorithm is presented. The issue is approached using an Interlaced Extended Kalman Filter (IEKF) algorithm. The proposed solution allows the dynamic correction of the position computed by any single robot through information shared during the random rendezvous of robots. The agents are supposed to carry short-range antennas to enable data communication when they have a “visual” contact. The information exchange is limited to the pose variables and the associated covariance matrix. The algorithm combines the robustness of a full-state EKF with the effortlessness of its interlaced implementation. The proposed unsupervised method provides great flexibility by using exteroceptive sensors, even if it does not guarantee the same position estimate accuracy for each agent. However, it can be effective in case of connectivity loss among team robots. Moreover, it does not need synchronization between agents.