コンセンサスに基づいた超分散カメラロボットによる自己位置推定

抄録

This paper proposes a new self-localization method based on EKF using only angular informations observed by many standing robots each other that are not controlled that are dispersed in a environment. However, it is difficult to calculate by using many information in a EKF and to localize robots positions, so to solve these problems, consensus is introduced to EKF. It is expected to be able to solve these problems, and this proposed method is verified the effectiveness by numerical experiment.