Initial self-localization based on shared information for multi-robot teleoperation system

Shintaro Suzuki, Yuichiro Toda, Naoyuki Kubota

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

This paper proposes a localization method using shared information for teleoperation of multiple robots based on formation behaviors. The localization is one of the most important capabilities. However, other robots can be considered as unknown objects when a mobile robot performs initial self-localization. It is difficult to estimate the initial position if the other robots enter the sensing range of the mobile robot. However, the robot can perform the initial self-localization more efficiently by sharing the map information and each self-position. Therefore, we propose a method of effective initial self-localization using the position information of the other mobile robots and the subtracted measurement data of LRF for multi-robot systems. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.

Original languageEnglish
Pages2721-2726
Number of pages6
Publication statusPublished - Jan 1 2013
Externally publishedYes
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

Fingerprint

Remote control
Robots
Mobile robots

Keywords

  • Multi-robot system
  • Self-localization
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Suzuki, S., Toda, Y., & Kubota, N. (2013). Initial self-localization based on shared information for multi-robot teleoperation system. 2721-2726. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.

Initial self-localization based on shared information for multi-robot teleoperation system. / Suzuki, Shintaro; Toda, Yuichiro; Kubota, Naoyuki.

2013. 2721-2726 Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.

Research output: Contribution to conferencePaper

Suzuki, S, Toda, Y & Kubota, N 2013, 'Initial self-localization based on shared information for multi-robot teleoperation system' Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan, 9/14/13 - 9/17/13, pp. 2721-2726.
Suzuki S, Toda Y, Kubota N. Initial self-localization based on shared information for multi-robot teleoperation system. 2013. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.
Suzuki, Shintaro ; Toda, Yuichiro ; Kubota, Naoyuki. / Initial self-localization based on shared information for multi-robot teleoperation system. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.6 p.
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