Mutual Localization of a Multi-Robot Team with Anonymous Relative Position Measures

Abstract

In this paper we formulate and solve the mutual localization prob- lem for a multi-robot system under the assumption of anonymous rela- tive position measures. The anonymity hypothesis can cause a combi- natorial ambiguity in the inversion of the measure equation giving more than one possible solution to the problem. We propose MultiReg, an innovative algorithm aimed at obtaining sets of possible relative pose hypotheses, whose output is processed by a data associator and a mul- tiple EKF to select the best hypothesis. We study the performance of the developed localization system using both simulations and real robot experiments.