Navigation strategies for cooperative localization based on a particle-filter approach

This paper proposes a set of navigation strategies to cooperatively localize a team of robots by applying a Particle-Filter approach. The main mission consists in exploring unknown, isolated and unstructured scenarios, where no Global Positioning System is available. By means of the cooperative localization technique and a behaviour based controller the robots have to return to the initial configuration. The proposed approach relies on distance and orientation measurements between the individual robots, and between the robots and a fixed active beacon. Simulation results are presented. ∗Corresponding author: phone: +34 959 21 76 38; fax: +34 959 21 73 04; 1