Multi-Robot Cooperative Localization:
A Study  of Trade-offs Between  Efficiency and Accuracy

Abstract

This paper examines the tradeoffs between different classes of
sensing strategy and motion control strategy in the
context of terrain mapping 
multiple robots. We consider a larger group of robots that can
mutually estimate one another's position (in 2D or 3D) and uncertainty
using a sample-based  (particle filter) model of uncertainty. Our
prior work has dealt with a pair of robots that estimate one another's
position using visual tracking and coordinated motion. Here we extend
these results and consider a richer set of sensing and motion
options. In particular, we focus on issues related to confidence
estimation for groups of more than two robots.