Undergraduate Research of Decentralized Localization of Roombas Through Usage of Wall-Finding Software

TL;DR

This paper presents an undergraduate-developed wall-following software enabling Roombas to independently localize within a space and share positions for cooperative multi-robot operation.

Contribution

It introduces a novel decentralized localization method for Roombas using wall-finding software, facilitating autonomous positioning and inter-robot communication.

Findings

Roombas successfully localized themselves within the environment.

The software enabled effective sharing of position data among robots.

The approach demonstrated potential for decentralized robot cooperation.

Abstract

This paper introduces the research effort of an undergraduate research team in realizing robot localization. More specifically, the undergraduate research team developed and tested wall-following software that allowed a ground robot Roombas to independently find their positions within a defined space. The software also allows a robot to send its localized position to other Roombas, so that each Roomba knows its relative location to realize robot cooperation.