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

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 L-2-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. Copyright (C) 2020 The Authors.