3D Mutual Localization with Anonymous Bearing Measurements

Title3D Mutual Localization with Anonymous Bearing Measurements
Publication TypeConference Paper
Year of Publication2012
AuthorsCognetti, M, Stegagno, P, Franchi, A, Oriolo, G, Bülthoff, HH
Conference Name2012 IEEE Int. Conf. on Robotics and Automation
Date Published05/2012
Conference LocationSt. Paul, MN
KeywordsDistributed 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.

Citation Key2012c-CogSteFraOriBue
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