Michalson, William R.
Miller, Bradley A.
We present research, design, analysis, and implementation of a low-cost localization system for high speed, cluttered, multi-robot environments. In these environments, no individual sensor is sufficient for accurate localization, and there is currently no established low-cost localization solution available. The FIRST Robotics Competition (FRC) is both our motiving example and an interesting environment in which to study localization. In this report, we define criteria for successful localization, then describe experimental results to characterize and benchmark individual sensors and algorithms. Furthermore, we describe the datasets we have collected and released, and finally, we provide a description of how we combined a subset of the proposed techniques in a complete localization system.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering