Real-Time Estimating Spatial Configuration between Multiple Robots by Triangle and Enumeration Constraints
In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using mul
- PDF / 291,439 Bytes
- 10 Pages / 451 x 677 pts Page_size
- 7 Downloads / 149 Views
Oohara T. Ogasawara
A. Ebina H. Ishiguro∗∗
Graduate School of Information Science, Nara Institute of Science and Technology Takayama-cho 8916-5, Ikoma, Nara Japan 630-0101 ∗E-mail:[email protected] WWW:http://robotics.aist-nara.ac.jp ∗∗ Dept. of Computer and Communication System, Wakayama University Sakaetani 940, Wakayama, Wakayama Japan 640-8510 Abstract. In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only relative configuration between robots but also absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot.
1
Introduction
In order that multiple robots operate successfully in cooperative way, such robots must be able to localize themselves and to know where other robots are in a dynamic environment. Furthermore, such estimation should be done in real-time. An accurate localization method is a key technology for successful accomplishment of tasks in cooperative way. Most of conventional localization algorithms extract a small set of features from a single robot’s sensor measurements. For example, landmark-based approach[1], which is very popular, scan sensor readings for the presence of landmarks to estimate a single robot’s position and orientation. On the other hand, in case that there are multiple robots in the environment, the localization problem can be easily resolved. Since robots in the multiple robot system can share the observations by communicating each other, each robot in such multiple robots can utilize redundant information for localizing itself. Therefore, such robots can solve the localization problem more easily than a single robot does. However, in multiple robot system, it is difficult to identify other robots by using only visual information. In order to realize such identification and localization capability, Kato et. al [3] developed a relative localization algorithm for multiple robots equipped with ODVS. This method is based on identifying potential triangles among any three robots using the simple triangle constraint. After potential triangles are identified, they are sequentially verified using information from neighboring triangles. P. Stone, T. Balch, and G. Kraetzschmar (Eds.): RoboCup 2000, LNAI 2019, pp. 219-228, 2001. c Springer-Verlag Berlin Heidelberg 2001
220
T. Nakamura et al.
However, their system is not really autonomous decentralized one, because their method strictly assumes that multiple robots communicate each other in order to reconstruct a relative configuration. Furthermore, the processing time for estimation is apt to be long, because their method uses only one geometrical constraint. In
Data Loading...
