This paper considers the problem of localizing multiple agents, e.g. unmanned aerial vehicles (UAVs), robots, etc., moving in two-dimensional space when the known data comprise 1) the inter-agent distances, and 2) the angle subtended at each agent by lines drawn from two landmarks at known positions. Later it is shown that this result has direct application in a different general robotic problem, viz. robot-to-robot relative pose determination (relative reference frame determination), using measured distances. The methods proposed are validated through simulations and experiments.


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    Title :

    Cooperative Self-Localization of Mobile Agents


    Contributors:
    Shames, I. (author) / Fidan, B. (author) / Anderson, B. D. O. (author) / Hmam, H. (author)


    Publication date :

    2011-07-01


    Size :

    3429486 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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