Date of Original Version
7-2009
Type
Conference Proceeding
Published In
Proceedings of 2009 Field and Service Robotics Conference, FSR 2009, Cambridge, Mass, USA, July 2009
Abstract or Table of Contents
We present a “leap-frog” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path that provides informative measurements. After completing the move, the roles of each robot are switched and the path is repeated. We demonstrate accurate localization using this path via a coverage experiment in which three robots successfully cover a 20m x 30m area. We report an approximate positional drift of 1.1m per robot over a travel distance of 140m. To our knowledge, this is one of the largest successful GPS-denied coverage experiments to date.