@article {Matsubara:2010:0169-1864:2043,
title = "Particle Filter for Collaborative Multi-Robot Localization Tolerant to Recognition Error",
journal = "Advanced Robotics",
parent_itemid = "infobike://tandf/arb",
publishercode ="tandf",
year = "2010",
volume = "24",
number = "15",
publication date ="2010-11-01T00:00:00",
pages = "2043-2058",
itemtype = "ARTICLE",
issn = "0169-1864",
eissn = "1568-5535",
url = "https://www.ingentaconnect.com/content/tandf/arb/2010/00000024/00000015/art00001",
doi = "doi:10.1163/016918610X534259",
keyword = "MULTI-ROBOT LOCALIZATION, PARTICLE FILTER, COLLABORATIVE MULTI-ROBOT SYSTEM, LOCALIZATION",
author = "Matsubara, Takashi and Kubo, Masao and Murachi, Yusuke",
abstract = "Statistical algorithms using particle filters have been proposed previously for collaborative multi-robot localization. In these algorithms, by synchronizing each robot's belief or exchanging the particles of the robots, fast and accurate localization is attained. However, there algorithms
assume correct recognition of other robots and the effects of recognition error are not considered. If the recognition of other robots is incorrect, a large amount of error in localization can occur. This paper describes this problem. Furthermore, in order to cope with the problem, an algorithm
for collaborative multi-robot localization is proposed. In the proposed algorithm, the particles of a robot are exchanged with those of other robots according to measurement results obtained by the sending robot. At the same time, some particles remain in the sending robot. Received particles
from other robots are evaluated using measurement results obtained by the receiving robot. The proposed method copes with recognition error by using the remaining particles, and increases the accuracy of estimation by twice evaluating the exchanged particles of the sending and receiving robots.
These properties of the proposed method are argued mathematically. Simulation results show that incorrect recognition of other robots does not cause serious problems in the proposed method.",
}