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Paper TuB09.1

Cognetti, Marco (UniversitÓ di Roma "La Sapienza"), Stegagno, Paolo (UniversitÓ di Roma "La Sapienza"), Franchi, Antonio (Max Planck Institute for Biological Cybernetics), Oriolo, Giuseppe (UniversitÓ di Roma "La Sapienza"), Buelthoff, Heinrich H. (Max Planck Institute for Biol. Cybernetics)

3-D Mutual Localization with Anonymous Bearing Measurements

Scheduled for presentation during the Regular Session "Localization" (TuB09), Tuesday, May 15, 2012, 10:30−10:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Localization, Distributed Robot Systems, Aerial Robotics

Abstract

We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bearing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case, and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.

 

 

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