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Acquiring a global lexicon for identifying landmarks in a heterogeneous multi-robot system

This paper describes a multi-robot system in which mobile robots try to name landmarks distinctively using a discrimination game framework. Landmark-based navigation effectively reduces cumulative errors by identifying landmarks and adjusting robot’s localization. Also it can be applied to a multi-robot system straightforward. However there is a significant problem on finding common names of landmarks among robots. In multi-robot planning, all the landmarks need to have unique names shared by all the robots. Since robots actually recognize only physical features of a landmark, each robot needs to obtain mappings between the names and the distinctive features of other landmarks. We call the search such mappings a landmark naming problem. In this paper, we propose the application of a discrimination game to solve the landmark naming problem in a heterogeneous multi-robot system in recognition. Robots autonomously name landmarks through local communications on the landmarks. First we define a landmark naming problem and explain a framework to which our approach is applicable. Then we describe a procedure of discrimination game applied to a multi-robot system. Using the procedure, multiple robots moves, communicates each other on landmarks, and gradually acquire lexicons as the mappings. They eventually obtain lexicons with names identifying unique landmark for every robot. Finally we made preliminary experiments and discuss the results.