Localization of ground robots

  1. Relative mutual localization

    We have formulated and investigated a novel problem called Mutual Localization with Anonymous Position Measures. This is an extension of Mutual Localization with Position Measures, with the additional assumption that the identities of the measured robots are not known. For certain configurations of the multi-robot system, the anonymity hypothesis causes a combinatorial ambiguity in the inversion of the measure equation, resulting in the existence of multiple solutions.

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  4. Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing

    D. Zelazo, Franchi, A., and Robuffo Giordano, P., “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.

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  5. Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements

    P. Stegagno, Cognetti, M., Oriolo, G., Bülthoff, H. H., and Franchi, A., “Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements”, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016.

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