A Survey of Robot Swarms' Relative Localization Method
Siyuan Chen1, Dong Yin1, Yifeng Niu1
1College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China.
Sensors (Basel, Switzerland)
|June 24, 2022
Summary
Accurate robot positioning is crucial for swarms. Relative localization, especially using ultra-wideband (UWB) systems, overcomes Global Navigation Satellite System (GNSS) signal limitations for reliable robot coordination.
Area of Science:
- Robotics
- Navigation Systems
- Distributed Systems
Background:
- Accurate positioning is vital for robot swarm operations, including collision avoidance and formation maintenance.
- Global Navigation Satellite System (GNSS) signals can be unreliable in environments with obstructions or dense robot populations.
- Relative localization offers a robust alternative for providing essential position information within robot swarms.
Purpose of the Study:
- To review the current state and development of relative localization techniques for robot swarms.
- To assess the necessity of relative localization for stable group operation.
- To identify suitable technologies and future research directions for distributed swarm localization.
Main Methods:
- Analysis of existing relative localization systems and algorithms based on functionality and practicality.
- Evaluation of different technologies for their suitability in large-scale robot swarm applications.
- Identification of challenges in fully distributed localization for robotic swarms.
Main Results:
- Relative localization is essential for achieving spatio-temporal awareness and stable operation in robot swarms.
- Ultra-wideband (UWB) systems are identified as a practical and suitable solution for relative localization in large-scale robot swarm applications.
- Current challenges in fully distributed localization for robotic swarms are analyzed.
Conclusions:
- Relative localization is indispensable for robust robot swarm coordination, especially when GNSS is unavailable.
- Ultra-wideband (UWB) technology presents a promising approach for large-scale, relative robot localization.
- A comprehensive mechanism integrating relative and global localization is proposed as a future research avenue for fully distributed swarm localization.
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