A rendezvous approach for correcting accumulative errors of multiple robots

Abstract

Wireless communication with no range and bandwidth limitations is desired for coordination and information sharing among multiple robots. However, the perfect communication is not available for a few of reasons. This paper proposed a simple yet effective scheme for correcting odometer errors existed in each robot of a multi-robot system. A contribution is that additional communication bandwidth is needed only if a rendezvous for two robots happened. Implementation of the error correction scheme is addressed in detail. Moreover, rendezvous is formulated by a set of predicate logic reasoning implications for each robot at upper level of soft architecture. The proposed approach was validated by computer simulations.