We propose a practical method of multiple mobile robot navigation aimed at the realization of service robots that deliver letters, parcels and documents in an office building. For robust execution of delivery tasks by mobile robots, navigation is important, and localization of robots is a key function for designing robust navigation. We developed a global positioning system for indoor mobile robots by using cameras distributed in the robots' working domain. This system can execute fast and accurate localization of mobile robots. By integrating the positioning system with a deadlock free navigation algorithm for multiple mobile robots, we implemented a successful autonomous service robot system.
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