Cooperative multi-robot localization using differential position data

Abstract

In this paper, we propose a novel method of cooperative localization for multiple robots working in common workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot’s position data. With simulation environment including probabilistic error in robot model and GPS sensor, it is confirmed that the proposed cooperative localization using differential position data between robots provides improved localization accuracy.