Bearing-only Cooperative Localization

Authors:
Rajnikant Sharma;Stephen Quebe;Randal W. Beard;Clark N. Taylor
Affiliations:
Department of Electrical and Computer Engineering, US Air Force Academy, Colorado Springs, USA;Department of Electrical and Computer Engineering, Brigham Young University, Provo, USA;Department of Electrical and Computer Engineering, Brigham Young University, Provo, USA;Air Force Research Lab, Wright Patterson Air Force Base, Dayton, USA
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

Citing 4
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Abstract

In cooperative localization a group of robots exchange relative position measurements from their exteroceptive sensors and their motion information from interoceptive sensors to collectively estimate their position and heading. For the localization errors to be bounded, it is required that the system be observable, independent of the estimation technique being used. In this paper, we develop a test-bed of three ground robots, which are equipped with wheel encoders and omnidirectional cameras, to implement the bearing-only cooperative localization. The simulation and experimental results validate the observability conditions, derived in Sharma et al. (IEEE Trans Robot 28:2, 2011), for the complete observability of the bearing-only cooperative localization problem.