Suboptimal system recovery from communication loss in a multi-robot localization scenario using EKF algorithms

Kondaxakis, P., Ruiz, V. F. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2006) Suboptimal system recovery from communication loss in a multi-robot localization scenario using EKF algorithms. In: Tokhi, M. O., Virk, G. S. and Hossain, M. A. (eds.) Climbing and Walking Robots (8th International Conference on Climbing and Walking Robots (CLAWAR 2005)). Springer-Verlag Berlin, pp. 649-658. ISBN 3540264132

Abstract/Summary

This paper describes a multi-robot localization scenario where, for a period of time, the robot team loses communication with one of the robots due to system error. In this novel approach, extended Kalman filter (EKF) algorithms utilize relative measurements to localize the robots in space. These measurements are used to reliably compensate "dead-com" periods were no information can be exchanged between the members of the robot group.