Multi-sensor fusion approach with fault detection and exclusion based on the Kullback-Leibler Divergence: Application on collaborative multi-robot system

Multi-robot systems became one of the major fields of study in the indoor environment where the environmental monitoring and the response to crisis must be ensured. Consequently, the robots required to know precisely their positions and orientations in order to successfully perform their mission. Fault detection and exclusion (FDE) play a crucial role in enhancing the integrity of localization of the multi-robot team. The main contributions of this paper are: - developing a new method of sensors data fusion that tackle the erroneous data issues, - developing a Kullback-Leibler based criterion for the threshold optimization, - Validation with real experimental data from a group of robots.