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With the development of robotics, multirobot collaboration system (MRCS) has become a popular focus of research in recent years. As the key technology of MRCS, multirobot cooperative localization (MRCL) is becoming more and more popular due to its higher accuracy and robustness by exchanging and sharing information. In this article, we propose an MRCL system based on visible light positioning (VLP) technology and odometer (VO-MRCL). Using rolling shutter camera and odometer, the system relaxes the quantity required for observable-light emitting diode (LED) lamps of each robot to one and improves the robustness of the VLP-based robot positioning methods under LED shortage. The accuracy of the proposed VO-MRCL system is verified by real-world experiments, where a two-robot system is proposed as an example specifically. The results of experiment show that our proposed system is feasible and can achieve the positioning accuracy with an average error of 4.31 cm.

Multirobot Cooperative Localization Based on Visible Light Positioning and Odometer