An Optimization Based Approach for Relative Localization and Relative Tracking Control in Multi-Robot Systems

Mehrez, Mohamed W.; Mann, George K. I.; Gosine, Raymond G.

doi:10.1007/s10846-016-0408-2

Cited by 26 publications

(15 citation statements)

References 49 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Nikolay Atanasov, Jerome Le Ny focused on getting optimal control strategy by minimizing the entropy of the estimation task [9]. MW Mehrez and Gki Mann designed a framework in which robots are located and commanded to follow time varying trajectories with respect to another robot reference frame to get optimal relative localization [10]. D Fox, W Burgard employed probabilistic methods to measure each robot's belief whenever one robot detects another so that high-cost sensors among groups can be shared across multiple robots [11].…”

Section: Related Workmentioning

confidence: 99%

“…The pose map is uploaded to organiser at set intervals (09). The robot needs to judge whether assistance is needed or not (10). If the assistance is not necessary it moves and updates the parameters ifself (12)(13)(14)(15)(16)(17)(18)(19)(20), otherwise it will ask organiser for help and block up there to wait for a response (22)(23).…”

Section: Sequences Of Collaborative Algorithmmentioning

confidence: 99%

See 1 more Smart Citation

SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation

et al. 2018

View full text Add to dashboard Cite

Abstract:The simultaneous localization and mapping (SLAM) of robot in the complex environment is a fundamental research topic for service robots. This paper presents a new humanoid multi-robot SLAM mechanism that allows robots to collaborate and localize each other in their own SLAM process. Each robot has two switchable modes: independent mode and collaborative mode. Each robot can respond to the requests of other robots and participate in chained localization of the target robot under the leadership of the organiser. We aslo discuss how to find the solution of optimal strategy for chained localization. This mechanism can improve the performance of bundle adjustment at the global level, especially when the image features are few or the results of closed loop are not ideal. The simulation results show that this method has a great effect on improving the accuracy of multi-robot localization and the efficiency of 3D mapping.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Sequences Of Collaborative Algorithmmentioning

confidence: 99%

SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation

et al. 2018

View full text Add to dashboard Cite

show abstract

“…An invariant EKF-SLAM is proposed in [21] to achieve accurate map building in 1D/2D/3D scenarios, the accuracy is comparable to that of least square optimization based SLAM. Optimization-based algorithms consist of bundle adjustment [22] and pose-graph [23] etc., which have been widely applied in visual SLAM and are proved to have high consistency [24] [25]. SLAM in dynamic scenes is challengeable since dynamic objects may degrade SLAM performance.…”

Section: Introductionmentioning

confidence: 99%

A Clutter-Resistant SLAM Algorithm for Autonomous Guided Vehicles in Dynamic Industrial Environment

Wang

Jiang

et al. 2020

IEEE Access

View full text Add to dashboard Cite

In dynamic and complicated industrial environments, feature-based SLAM based on laser scanner is a popular choice to achieve localization of autonomous guided vehicles. However, there are many clutters and dynamic objects degrading SLAM performance. This paper proposes a clutter-resistant SLAM solution where both point features generated from reflectors and line features are employed to improve SLAM robustness. First, a point feature recognition method based on geometrical characteristics of reflectors is developed to filter out clutters and identify true reflector landmarks; Then a dual-map based map management scheme is proposed for EKF-SLAM to further eliminate both types of fallacious landmarks and enhance its clutter resistance capability. The proposed methods eliminate adverse impact of clutters and thus improve SLAM performance in terms of accuracy, consistency and efficiency. The effectiveness of the proposed clutter-resistant SLAM solution is validated through real-time experiments. The absolute localization error is controlled within 19 mm and 31mm in X-axis and Y-axis respectively. The improved SLAM algorithm is proved to be accurate and efficient enough for practical application in dynamic and complicated industrial environments. INDEX TERMS EKF, Autonomous guided vehicle, SLAM, Industrial environment.

show abstract

“…One central issue is to be able to calculate a feasible solution which ensures safety in terms of collision avoidances. Examples for robotic systems can be found in formation control of robots [2], exploration of unknown environment to achieve an optimal covering with limited number of robots [3], or real-time control of distributed helicopters [4]. All these distributed systems are linked by common properties and arising problems: complexity and availability of information.…”

Section: Introductionmentioning

confidence: 99%

Analytical Aspects of Distributed MPC Based on an Occupancy Grid for Mobile Robots

Sprodowski

Pannek

2020

Applied Sciences

View full text Add to dashboard Cite

In this paper, we evaluate theoretical aspects of a distributed system of noncooperative robots controlled by a distributed model predictive control scheme, which operates in a shared space. Here, for collision avoidance, the future predicted state trajectories are projected on a grid and exchanged via discrete cell indexes to reduce the communication burden. The predicted trajectories are obtained locally by each robot and carried out in the continuous space. Therefore, the quantisation does not impose the quality of the solution. We derive sufficient conditions to show convergence and practical stability for the distributed control system by using an idea of a temporary roundabout derived from crossing patterns of street traffic rules, which is established in a fixed and flexible circle size. Furthermore, a condition for the sufficient prediction horizon length to recognise necessary detours is presented, which is adapted for the occupancy grid. The theoretical results match with the trajectory patterns from former numerical simulations, showing that this pattern is naturally chosen as an overall solution.

show abstract

An Optimization Based Approach for Relative Localization and Relative Tracking Control in Multi-Robot Systems

Cited by 26 publications

References 49 publications

SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation

SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation

A Clutter-Resistant SLAM Algorithm for Autonomous Guided Vehicles in Dynamic Industrial Environment

Analytical Aspects of Distributed MPC Based on an Occupancy Grid for Mobile Robots

Contact Info

Product

Resources

About