@conference {2012c-CogSteFraOriBue, title = {3D Mutual Localization with Anonymous Bearing Measurements}, booktitle = {2012 IEEE Int. Conf. on Robotics and Automation}, year = {2012}, month = {05/2012}, address = {St. Paul, MN}, 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 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.}, keywords = {Distributed algorithms, Estimation, Localization, Localization of aerial robots, Multi-robot systems}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012c-CogSteFraOriBue.pdf}, author = {Marco Cognetti and Paolo Stegagno and Antonio Franchi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff} }