Multi-resolution localization system

A system comprising:

• one or more computers;
• and
• a non-transitory computer-readable medium coupled to the one or more computers having instructions stored thereon which, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
• receiving, by a robot controller and from a worker robot, location data that reflects a location that the worker robot estimates for an end effector tool that is mounted on the worker robot;
• determining, based on the location data that reflects the location that the worker robot estimates for the end effector tool that is mounted on the worker robot, an unintended movement of the end effector tool with respect to a work surface;
• receiving, by the robot controller and from an observer robot, location data that reflects a location that the observer robot estimates for the end effector tool that is mounted on the worker robot;
• determining, based on the location data that reflects the location that the observer robot estimates for the end effector tool that is mounted on the worker robot, an unintended movement of the end effector tool with respect to a worksite coordinate frame;
• and
• in response to determining the unintended movement of the end effector tool with respect to the work surface and determining the unintended movement of the end effector tool with respect to the worksite coordinate frame, transmitting, by the robot controller and to the worker robot, instructions for counteracting the unintended movement of the end effector tool with respect to the work surface and the unintended movement of the end effector tool with respect to the worksite coordinate frame.

A non-transitory computer storage medium encoded with a computer program, the computer program comprising instructions that when executed by one or more processors cause the one or more processors to perform operations comprising:

• receiving, by a robot controller and from a worker robot, location data that reflects a location that the worker robot estimates for an end effector tool that is mounted on the worker robot;
• determining, based on the location data that reflects the location that the worker robot estimates for the end effector tool that is mounted on the worker robot, an unintended movement of the end effector tool with respect to a work surface;
• receiving, by the robot controller and from an observer robot, location data that reflects a location that the observer robot estimates for the end effector tool that is mounted on the worker robot;
• determining, based on the location data that reflects the location that the observer robot estimates for the end effector tool that is mounted on the worker robot, an unintended movement of the end effector tool with respect to a worksite coordinate frame;
• and
• in response to determining the unintended movement of the end effector tool with respect to the work surface and determining the unintended movement of the end effector tool with respect to the worksite coordinate frame, transmitting, by the robot controller and to the worker robot, instructions for counteracting the unintended movement of the end effector tool with respect to the work surface and the unintended movement of the end effector tool with respect to the worksite coordinate frame.