System and method for probabilistic multi-robot positioning
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United States of America Patent
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Sep 20, 2022
Grant Date -
Aug 5, 2021
app pub date -
Jan 30, 2020
filing date -
Jan 30, 2020
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Abstract
A robot configured for multi-robot pose estimation execute iteratively the primary particle filter and the secondary particle filter independently from each other to update the pose estimations in the primary and the secondary particles. In response to each encounter of the robot with a neighboring robot, the robot receives neighboring particles of a particle filter of the neighboring robot identifying poses and likelihoods of the poses of the neighboring robot and replaces the primary particles of the primary particle filter with the secondary particles fused with the neighboring particles. The robot outputs its pose according to the primary particles of the primary particle filter.
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