Distributed Consensus with Visual Perception in Multi-Robot Systems by Eduardo Montijano & Carlos Sagüés

Author:Eduardo Montijano & Carlos Sagüés
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

If all the measurements are considered in the computation of the Maximum Likelihood, the obtained result is the black cross and dash-dotted ellipse with the ML mark at value while the ML of the inlier observations is (MLin). In this example, the conditions stated in Sect. 4.5.1 are satisfied, ensuring convergence to the ML of the inliers if one hypothesis is instantiated by nodes in

Fig. 4.3Evolution of the ML and the number of votes of the most voted hypothesis. In figures a and b we show the evolution of for the hypothesis that has obtained the most number of votes in the end. The dashed black line is the value of the ML of the robots with inlier information whereas the colored lines represent the estimations of the different robots. It is observed that in both coordinates the values of asymptotically converge to the dashed black line, meaning that all the robots reach the correct value. The evolution of the number of votes is depicted in (c). It converges to 5 for all the robots, which is exactly the number of robots with inlier information

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