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Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception




In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.

Author(s): Ahmad, A and Bülthoff, HH
Journal: Robotics and Autonomous Systems
Volume: 83
Pages: 275--286
Year: 2016

Department(s): Perceiving Systems
Research Project(s): AirCap: Perception-Based Control
Bibtex Type: Article (article)

DOI: 10.1016/j.robot.2016.06.002


  title = {Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception},
  author = {Ahmad, A and B{\"u}lthoff, HH},
  journal = {Robotics and Autonomous Systems},
  volume = {83},
  pages = {275--286},
  year = {2016}