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Bearing-only Cooperative Localization

Simulation and Experimental Results

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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.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, US Air Force Academy, Colorado Springs, CO, USA

    Rajnikant Sharma

  2. Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT, USA

    Stephen Quebe & Randal W. Beard

  3. Air Force Research Lab, Wright Patterson Air Force Base, Dayton, OH, USA

    Clark N. Taylor

Authors
  1. Rajnikant Sharma
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  2. Stephen Quebe
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  3. Randal W. Beard
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  4. Clark N. Taylor
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Corresponding author

Correspondence to Rajnikant Sharma.

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Sharma, R., Quebe, S., Beard, R.W. et al. Bearing-only Cooperative Localization. J Intell Robot Syst 72, 429–440 (2013). https://doi.org/10.1007/s10846-012-9809-z

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  • DOI: https://doi.org/10.1007/s10846-012-9809-z

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