|Title||3D Mutual Localization with Anonymous Bearing Measurements|
|Publication Type||Conference Paper|
|Year of Publication||2012|
|Authors||Cognetti, M, Stegagno, P, Franchi, A, Oriolo, G, Bülthoff, HH|
|Conference Name||2012 IEEE Int. Conf. on Robotics and Automation|
|Conference Location||St. Paul, MN|
|Keywords||Distributed algorithms, Estimation, Localization, Localization of aerial robots, Multi-robot systems|
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 bear- ing 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.