IEEE - Institute of Electrical and Electronics Engineers, Inc. - Distributed maximum a posteriori estimation for multi-robot cooperative localization

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Nerurkar, E.D. ; Roumeliotis, S.I. ; Martinelli, A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,402 - 1,409
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152398
Regular:

This paper presents a distributed Maximum A Posteriori (MAP) estimator for multi-robot Cooperative Localization (CL). As opposed to centralized MAP-based CL, the proposed algorithm reduces the... View More

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