外文翻译--机器人传感器的网络（可编辑）.doc

外文翻译--机器人传感器的网络 Robot-Sensor Networks General Robotics Automation Sensing and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA Abstract: This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with heterogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach. Key words: cooperative localization; multi-robot formation; distributed sensor network; sensor data fusion Introduction In order for a team of mobile robots to navigate autonomously in some desired formations and further perform cooperative tasks, such as surveillance and target acquisition, they must be able to localize themselves in the formation as well as in a global reference frame [1,2]. Therefore, how to estimate robots’ positions and orientations poses in a precise and efficient way is of particular interest. Our interest in this paper is localizing a team of heterogeneous robots in two dimensional special Euclidean space SE 2 and localizing targets with information obtained from heterogeneous sensors. Specifically, we are interested in conditions for which all robots in the formation can be localized in the environ- ment. Our localization approach is closely related to those presented by Stroupe etal. in the sense that the robots have access to their teammates sensor data or some related information and combinethis information with that coming from