Universal Journal of Mechanical Engineering Vol. 5(1), pp. 15 - 19
DOI: 10.13189/ujme.2017.050103
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Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF

Kyunghyun Lee , Hyungkwan Kwon , Kwanho You ^*
Department of Electrical and Computer Engineering, Sungkyunkwan University, South Korea

ABSTRACT

Recently, multi-robot systems are emerging in various industries. The multi-robot systems have several advantages in comparison with a single-robot system. The task of single-robot system is limited, because a bigger robot is required to perform more multiple functions. However, multi-robot systems can distribute the functions to each robot. The localization problem is essential for realization and it becomes more important in the multi-robot system. The multi-robot system needs to work maintaining a formation. In order to accomplish the given mission in the demanded formation, the localization is important. For multi-robot localization, we use the relative position to find robots' position based on odometry sensor, and the iterative Kalman filter algorithm is utilized to estimate the accurate position.

KEYWORDS
Multi-robot Localization, Formation, Relative Position, Odometry, Iterative Kalman Filter

Cite This Paper in IEEE or APA Citation Styles
(a). IEEE Format:
[1] Kyunghyun Lee , Hyungkwan Kwon , Kwanho You , "Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF," Universal Journal of Mechanical Engineering, Vol. 5, No. 1, pp. 15 - 19, 2017. DOI: 10.13189/ujme.2017.050103.

(b). APA Format:
Kyunghyun Lee , Hyungkwan Kwon , Kwanho You (2017). Iterative Solution of Relative Localization for Cooperative Multi-robot Using IEKF. Universal Journal of Mechanical Engineering, 5(1), 15 - 19. DOI: 10.13189/ujme.2017.050103.