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    Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems


    Cognetti, Marco and Stegagno, Paolo and Franchi, Antonio and Oriolo, Giuseppe (2012) Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. IFAC Proceedings Volumes, 45 (28). pp. 13-18. ISSN 14746670

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    Abstract

    We present a method for reconstructing the relative poses among the components of a multi-UAV system using anonymous (i.e., without identity information) robot-to-robot measurements. We consider two cases: bearing-only and bearing+distance measurements. While bearing can be rather directly extracted from a camera image, visual reconstruction of distances is more elaborate and typically associated with a larger noise. Nevertheless, our experiments show that use of such metric information improves significantly the quality of the localization.

    Item Type: Article
    Keywords: Localization; anonymous measurements; 3-D environment; multi-UAV;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 15327
    Identification Number: https://doi.org/10.3182/20121003-3-SF-4024.00006
    Depositing User: Marco Cognetti
    Date Deposited: 24 Jan 2022 15:46
    Journal or Publication Title: IFAC Proceedings Volumes
    Publisher: Elsevier
    Refereed: Yes
    URI:

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