This paper summarizes the progress in developing a rugged, low-cost, automated ground cone robot network capable of traffic delineation at lane-level precision. A holonomic omnidirectional base with a traffic delineator was developed to allow flexibility in initialization. RTK GPS was utilized to reduce minimum position error to 2 centimeters. Due to recent developments, the cost of the platform is now less than $1,600. To minimize the effects of GPS-denied environments, wheel encoders and an Extended Kalman Filter were implemented to maintain lane-level accuracy during operation and a maximum error of 1.97 meters through 50 meters with little to no GPS signal. Future work includes increasing the operational speed of the platforms, incorporating lanelet information for path planning, and cross-platform estimation.

中文翻译：

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AutoCone：用于车道级圆锥放置的OmniDirectional机器人

本文总结了开发坚固，低成本，能够以车道级精度进行交通描绘的自动地面圆锥机器人网络的进展。具有交通轮廓线的完整全向基座已被开发出来，可以灵活地进行初始化。利用RTK GPS将最小位置误差减小到2厘米。由于最近的发展，该平台的成本现在不到1600美元。为了最大程度地减少GPS限制环境的影响，车轮编码器和扩展卡尔曼滤波器得以实施，以在操作过程中保持车道级精度，并在几乎没有GPS信号的情况下保持1.97米至50米的最大误差。未来的工作包括提高平台的运行速度，合并用于路径规划的车道信息以及跨平台估算。