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.

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