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Conference paper

Bayesian Rendezvous for Distributed Robotic Systems

Gowal, Sven; Martinoli, Alcherio
  • Presented at: IEEE/RSJ 2011 International Conference on Intelligent Robots and Systems, San Fransisco, CA, USA, September 25-30, 2011
  • Published in: Proceedings of the IEEE/RSJ 2011 International Conference on Intelligent Robots and Systems
  • Publication date: 2011

In this paper, we state, using thorough mathe- matical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local positioning system. In particular, we extend the existing framework of noise-free, graph-based distributed control with a layer of Bayesian reasoning allowing to solve the rendezvous problem more efficiently in presence of uncertainties and in a probabilistically sound way. Finally we perform extensive experiments with a team of four real robots, and simulation with their corresponding simulated counterpart, to confirm the benefits of our Bayesian approach.

Keywords: rendezvous ; mobile robots ; bayes filter

Reference

  • EPFL-CONF-168217

Record created on 2011-08-22, modified on 2012-03-21

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