Experiments in Free-Space Triangulation Using Cooperative Localization

Abstract

This paper presents a first detailed case study
of collaborative exploration of a substantial environment.We
use a pair of cooperating robots to test multi-robot environment
mapping algorithms based on triangulation of free
space (see video). The robots observe one another using a
robot tracking sensor based on laser range sensing (LIDAR).
The environment mapping itself is accomplished using sonar
sensing. The results of this mapping are compared to
those obtained using scanning laser range sensing and the
scan matching algorithm. We show that with appropriate
outlier rejection policies, the sonar-based map obtained using
collaborative localization can be as good or, in fact, better
than that obtained using what is typically considered to be
a superior sensing technology.