Cooperative positioning system for indoor surveillance applications

Abstract

This paper presents basic characteristics of the problem of positioning errors propagation in collaborative multi robot environments. We propose two localization methods to achieve a cooperative positioning system using a collaborative autonomous robotic team for indoor surveillance applications. Based on case study simulation results, we were able to evaluate the error propagation process and to obtain the two-dimensional (2D) localization errors for the two proposed methods: Iterative Least Square (ILS) Localization and Backtracking Particle Filter (BPF) Localization.