Multirobot Object Localization: A Fuzzy Fusion Approach
K. LeBlanc and A. Saffiotti
In this paper, we address the problem of fusing information about object
positions in multirobot systems. Our approach is novel in two main
respects. First, it addresses the multirobot object localization problem
using fuzzy logic. It uses fuzzy sets to represent uncertain position
information and fuzzy intersection to fuse this information. The result
of this fusion is a consensus among sources, as opposed to the
compromise achieved by many other approaches. Second, our method fully
propagates self-localization uncertainty to object-position
estimates. We evaluate our method using systematic experiments, which
describe an input-error landscape for the performance of our approach.
This landscape characterizes how well our method performs when faced
with various types and amounts of input errors.