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A Cooperative Self-Localization Method for Multi Agent System

Yuichi Kitazumi, Noriyuki Shinpuku, Kazuo Ishii


Self-Localization is one of the important and basic problems for mobile robots to decide their behaviors, and especially for multi agent system using many autonomous mobile robots, position information is inevitable to achieve target tasks with cooperative behavior in dynamic changing environment. In this research, we assume the platform-situation, the RoboCup Middle Size League, where two or more robots and at least one landmark exist, and propose a landmark-position estimation method and a cooperative self-localization method. Both of them are developed based on the information sharing and probabilistic estimation. The results of evaluation indicate that the proposed system is effective to improve the accuracy of self-localization.

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