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.

翻译：本文总结了在开发用于车道级精度交通标线的坚固、低成本自动化地面锥桶机器人网络方面的进展。我们开发了一种配备全向移动底盘和交通标线器的机器人平台，以实现初始化灵活性。采用RTK GPS将最小位置误差降低至2厘米。得益于近期发展，该平台成本现已低于1600美元。为减小GPS信号缺失环境的影响，系统集成了轮式编码器与扩展卡尔曼滤波器，在运行过程中保持车道级定位精度，并在GPS信号极弱或无信号条件下实现50米范围内最大1.97米的定位误差。未来工作包括：提高平台运行速度、整合车道线段信息用于路径规划，以及跨平台状态估计。