This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. We assume that robots are equipped with sensors that allow them to measure the relative pose and identity of nearby robots, as well as sensors that allow them to measure changes in their own pose. Using a combination of max- imum likelihood estimation and distributed numerical optimization, we can, for each robot, estimate the relative range, bearing, and orientation of every other robot in the team. This pa- per describes the basic formalism, its distributed implementation, and presents experimental results obtained using a team of four mobile robots.
['Andrew Howard', 'Maja J. Matarić', 'Gaurav S. Sukhatme']
Localization for Mobile Robot Teams: A Distributed MLE Approach