Abstract—This paper addresses the decentralized coopera-tive localization problem for multi-robot applications, where the robot estimates the state of the entire system by ex-changing the information with nearby robots. At every time step, the robot measures the relative difference between two consecutive time instants with the odometer and relative ranges and bearings of other robots with the range sensor. Next, the robot combines the data sent from its own and its neighbors with the extended Information-weighted Consen-sus Filter, which guarantee the convergence to the optimal centralized performance. Finally, the proposed algorithm is demonstrated through Monte Carlo simulation.

Cite: Jae Do Jeon and Beom H. Lee, "Decentralized Multi-Robot Cooperative Localiza-tion with Extended Information-Weighted Con-Sensus Filter," International Journal of Mechanical Engineering and Robotics Research, Vol.4, No. 3, pp. 259-263, July 2015. DOI: 10.18178/ijmerr.4.3.259-263