Kooperative Bewegungsstrategien für Roboter in unbekannten ...

Abstract
Localization, the task of estimating a robot’s position and orientation, is one of the
fundamental problems of current research in autonomous mobile robotics. Recently, the
use of multiple robots has received increased attention to improve localization accuracy,
especially in unknown and featureless environments.
This thesis investigates from a theoretical point of view how a team of robots, each
equipped with a fixed monocular camera, can move cooperatively in order to reduce
positional uncertainty. Vision-based localization is done by using each other as mobile
landmarks. Therefore, a new concept for computing the relative distance and angle
between robots from single camera images is introduced and formally analyzed.
Based on this concept, different principal approaches to cooperative motion strategies
are developed for a global coordinate system that allow the given robots to keep track
of their locations. These strategies do not require any knowledge about the environment
and, thus, even work properly in unknown and unstructured domains.