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Received: 2003-09-24

Revision Accepted: 2003-12-22

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Journal of Zhejiang University SCIENCE A 2004 Vol.5 No.5 P.558-566


Graph rigidity and localization of multi-robot formations

Author(s):  ZHANG Fan

Affiliation(s):  General Robotics Automation Sensing and Perception Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA

Corresponding email(s):   zhangfan@grasp.cis.upenn.edu

Key Words:  Cooperative localization, Graph rigidity, Multi-robot formation

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ZHANG Fan. Graph rigidity and localization of multi-robot formations[J]. Journal of Zhejiang University Science A, 2004, 5(5): 558-566.

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This paper provides theoretical foundation for the problem of localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.

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