Stegagno, Paolo and Cognetti, Marco and Oriolo, Giuseppe and Bulthoff, Heinrich H. and Franchi, Antonio (2016) Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements. IEEE Transactions on Robotics, 32 (5). pp. 1133-1151. ISSN 1552-3098

Preview

Download (3MB) | Preview

Abstract

We present a decentralized algorithm for estimating mutual poses (relative positions and orientations) in a group of mobile robots. The algorithm uses relative-bearing measurements, which, for example, can be obtained from onboard cameras, and information about the motion of the robots, such as inertial measurements. It is assumed that all relative-bearing measurements are anonymous; i.e., each specifies a direction along which another robot is located but not its identity. This situation, which is often ignored in the literature, frequently arises in practice and remarkably increases the complexity of the problem. The proposed solution is based on a two-step approach: in the first step, the most likely unscaled relative configurations with identities are computed from anonymous measurements by using geometric arguments, while in the second step, the scale is determined by numeric Bayesian filtering based on the motion model. The solution is first developed for ground robots in SE (2) and then for aerial robots in SE (3). Experiments using Khepera III ground mobile robots and quadrotor aerial robots confirm that the proposed method is effective and robust w.r.t. false positives and negatives of the relative-bearing measuring process.

Item Type:	Article
Keywords:	Aerial robots; anonymous measurements; bearing-only sensors; ground robots; multirobot systems; mutual localization; unknown data-association;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15323
Identification Number:	https://doi.org/10.1109/TRO.2016.2593454
Depositing User:	Marco Cognetti
Date Deposited:	24 Jan 2022 15:32
Journal or Publication Title:	IEEE Transactions on Robotics
Publisher:	IEEE
Refereed:	Yes
URI:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

Repository Staff Only(login required)

Item control page

Downloads

Origin of downloads