Localization is one of the most fundamental tasks for mobile robots. In multirobot systems, robots can observe and communicate with one another to achieve localization cooperatively, even in uncharted places or GPS-denied environments. This scheme is called cooperative localization (CL), and is considered a promising approach for better autonomy. Among all approaches for CL, we focus on those based on the extended Kalman filter (EKF) due to its computational efficiency.
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