Optimisation based Multi-Robot Localisation with Constraints

Sen Wang, Ling Chen, Huosheng Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


It has been known that multi-robot localization is superior to single-robot localization in terms of localization accuracy. However, there is no work clearly examining why
and how multi-robot cooperation achieves this in the context of optimization based methods. This paper studies a constrained optimization based multi-robot localization algorithm in the perspective of Fisher Information Matrix to provide some novel insights on why and how multi-robot cooperation and optimization constraints are able to improve localization accuracy.
Original languageEnglish
Title of host publicationRobotics: Science and Systems (RSS) Workshop on Principles of Multi-Robot Systems
Number of pages2
Publication statusPublished - 2015


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