NDLI: Heterogeneous Multi-Robot Localization in Unknown 3D Space

Content Provider	IEEE Xplore Digital Library
Author	Yi Feng Zhigang Zhu Jizhong Xiao
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., CUNY, New York, NY (Yi Feng)
Abstract	This paper presents a self-localization strategy for a team of heterogeneous mobile robots including ground mobile robots of various sizes and wall-climbing robots. These robots are equipped with various visual sensors, such as miniature webcams, omnidirectional cameras, and PTZ cameras. As the core of this work, a formation of four-robot team is constructed to operate in a 3D space, e.g., moving on ground, climbing on walls and clinging to ceilings. The four robots could dynamically localize themselves asynchronously by employing cooperative vision techniques. Three of them on the ground mutually view each other and determine their relative poses with 6 degrees of freedom (DOFs). A wall-climbing robot, which significantly extends the work space of the robot team to 3D, is at a vantage point (e.g., on the ceiling) such that it can see all the three teammates, thus determining its own location and orientation. The four-robot formation theory and algorithms are presented, and experimental results with both simulated and real image data are provided to demonstrate the feasibility of this formation. Two 3D localization and control strategies are designed for applications such as search and rescue and surveillance in 3D urban environments where robots must be deployed in a full 3D space
Starting Page	4533
Ending Page	4538
File Size	195652
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282093
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Robot kinematics Mobile robots Robot sensing systems Robot vision systems Cameras Service robots Intelligent robots Computer science Cities and towns localization Multi-robot system climbing robot
Content Type	Text
Resource Type	Article

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