@inproceedings{70ebd52de0d14cd7ba42be7cfd50284c,
title = "Gradient-Based Cooperative Localization of Robot Swarm in Uniform Coverage Configurations Under Restricted Interactions",
abstract = "Positioning information is important for cooperative swarm robotics in many applications. Yet the localization for robot swarm in harsh environments is often challenging due to the lack of external global positioning systems and guaranteed relative distance sensing capability. In this paper, we consider developing a cooperative localization method for robot swarms in structured uniform coverage configurations, which is functioning under no global positioning system and restricted inter-robot communication. We introduce the gradient mechanism that appears in natural embrionic systems. With the gradient mechanism, the robots can obtain long-range distance information through gradient propatation. With three gradient sources, robots can triangulate their own position. The method has been tested in uniform coverage configurations in simulations.",
keywords = "cooperative localization, gradient mechanism, swarm robotics",
author = "Zisen Nie and Jianing Hu and Weiran Yao",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2026.; 5th International Conference on Autonomous Unmanned Systems, ICAUS 2025 ; Conference date: 17-10-2025 Through 19-10-2025",
year = "2026",
doi = "10.1007/978-981-95-7656-2\_49",
language = "英语",
isbn = "9789819576555",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "529--539",
editor = "Shaorong Xie and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 5th 2025 International Conference on Autonomous Unmanned Systems, ICAUS - Volume 5",
address = "德国",
}