Graph-based Observability Analysis of Bearing-only Cooperative Localization

Abstract

In this paper we investigate the nonlinear observability properties of bearing-only cooperative localization. We establish a link between observability and a graph representing measurements and communication between the robots. It is shown that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system. We obtain the maximum rank of the observability matrix without global information and derive conditions under which the maximum rank can be achieved. Furthermore, we show that for complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2012
Accession Number
ADA591902

Entities

People

  • Clark N. Taylor
  • Rajnikant Sharma
  • Randy Beard
  • Stephen Quebe

Organizations

  • Brigham Young University

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Air Force
  • Air Force Research Laboratories
  • Algorithms
  • Computational Complexity
  • Computations
  • Coordinate Systems
  • Electronic Mail
  • Equations
  • Equations Of Motion
  • Estimators
  • Information Operations
  • Kalman Filters
  • Maximum Likelihood Estimation
  • Measurement
  • Nonlinear Systems
  • Robots
  • Sequential Monte Carlo Methods

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Graph Algorithms and Convex Optimization.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy