We have presented a decentralized method for 3-D anonymous mutual localization in multi-robot systems. In particular, we have considered two different scenarios, i.e., the use of bearing-only vs. bearing+distance measurements. The latter can be extracted, for instance, from the video stream of a camera. This device provides very noisy distance measurements, so that they can not be used to retrieve the identities. However, we show how to include them in the estimation process. Experimentation on a team of UAVs (Unmanned Aerial Vehicles) has shown that, in spite of the much larger uncertainty affecting it, the use of distance information improves the performance of the mutual localization system over the bearing-only case. Current work is aimed at implementing the localizer on board of the UAVs so as to use it for higher level tasks, such as formation control.
Two measurement scenarios for anonymous mutual localization in multi-UAV systems
2012
6 Seiten, 6 Bilder, 1 Tabelle, 12 Quellen
Conference paper
English
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