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This paper proposes a Particle-Filter approach and a set of motion strategies to cooperatively localize a team of three robots. The allocated mission consists on the path following of a closed trajectory and obstacle avoidance in isolated and unstructured scenarios. The localization methodology required for the correct path following relies on distance and orientation measurements among the robots and the robots and a fixed active beacon. Simulation results are presented.

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This chapter presents a Particle Filter approach to solve the metric localization of a team of three robots. The method considers the existence of a fixed active beacon which has sensorial capabilities. The localization strategy is based on the distance and orientation measurements among the robots and the robots and the fixed active beacon. By means of this technique the team of robots are capable of navigating in isolated and unstructured scenarios. In spite of common differential vehicles, this approach is intended to be applied in car-like vehicles, still a large scope of mobile robots in real environments.