Relaxation on a mesh: a formalism for generalized localization

A. Howard, M.J. Mataric, G. Sukhatme
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)  
This paper considers two problems which at first sight appear to be quite distinct: localizing a robot in an unknown environment and calibrating an embedded sensor network. We show that both of these can be formulated as special cases of a generalized localization problem. In the standard localization problem, the aim is to determine the pose of some object (usually a mobile robot) relative to a global coordinate system. In our generalized version, the aim is to determine the pose of all
more » ... pose of all elements in a network (both fixed and mobile) relative to an arbitrary global coordinate system. We have developed a physically inspired 'meshbased' formalism for solving such problems. This paper outlines the formalism, and describes its application to the concrete tasks of multi-robot mapping and calibration of a distributed sensor network. The paper presents experimental results for both tasks obtained using a set of Pioneer mobile robots equipped with scanning laser range-finders.
doi:10.1109/iros.2001.976308 dblp:conf/iros/HowardMS01 fatcat:k7ko4rtcc5f57hf572lsexycie