Cooperative positioning with multiple robots

Ryo Kurazume, Shigemi Nagata, Shigeo Hirose

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

229 Citations (Scopus)


A number of positioning identification techniques have been used for mobile robots. Dead reckoning is a popular method, but is not reliable when a robot travels long distances or over an uneven surface because of variations in wheel diameter and wheel slippage. The landmark method, which estimates the current position relative to landmarks, cannot be used in an uncharted environment. We propose a new method called `Cooperative Positioning with Multiple Robots.' For cooperative positioning, we divide the robots into two groups, A and B. One group, say A, remains stationary and acts as a landmark while group B moves. The moving group B then stops and acts as a landmark for group A. This `dance' is repeated until the target robot position are reached. Cooperative positioning has a far lower accumulated positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, this method has inherent landmarks and therefore works in uncharted environments. This paper discusses the positioning accuracy of our method with error variances for an example with three mobile robots.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages7
Editionpt 2
ISBN (Print)0818653329
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 2
ISSN (Print)1050-4729


OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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