Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements

Miao Guo*, Bayu Jayawardhana, Jin Gyu Lee, Hyungbo Shim

*Corresponding author for this work

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This paper investigates the problem of localizing a team of robots in an indoor environment while simultaneously keeping a robust formation and performing group motion. A distributed observer is proposed to estimate the positions of mobile robots as well as the landmarks under a common global frame. Every robot uses its available local relative measurements, as well as the estimated relative measurements to its neighbors in order to keep a robust formation. Simultaneously, each robot estimates the positions of all the landmarks based on the available on-board relative measurements but also based on the estimated positions from its neighbors. We provide the L2-stability analysis of the closed-loop system where the group is also allowed to maneuver in the unknown environment. Simulation results are also given to show the efficacy of the method.
Original languageEnglish
Title of host publication Proc. 21st IFAC World Congress
Number of pages7
Publication statusAccepted/In press - 2020
EventThe 21st IFAC World Congress - , Germany
Duration: 12-Jul-202017-Jul-2020


ConferenceThe 21st IFAC World Congress

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