Title:
Fault Tolerant Localization for Teams of Distributed Robots
Fault Tolerant Localization for Teams of Distributed Robots
Author(s)
Tinós, Renato
Navarro-Serment, Luis E.
Paredis, Christiaan J. J.
Navarro-Serment, Luis E.
Paredis, Christiaan J. J.
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Abstract
To combine sensor information from distributed robot teams, it is critical to know the locations of all the robots relative to each other. This paper presents a novel fault tolerant localization algorithm developed for centimeter-scale robots, called Millibots. To determine their locations, the Millibots measure the distances between themselves with an ultrasonic distance sensor. They then
combine these distance measurements with dead
reckoning in a maximum likelihood estimator.
The focus of this paper is on detecting and isolating measurement faults that commonly occur in this localization system. Such failures include dead reckoning errors when the robots collide with undetected obstacles, and distance measurement errors due to destructive interference between direct and multi-path
ultrasound wave fronts.
Simulations show that the fault tolerance algorithm accurately detects erroneous measurements and significantly improves the reliability and accuracy of the
localization system.
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Date Issued
2001
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