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:	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

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