Bearing-only Cooperative Localization: Simulation and Experimental Results

Abstract

In cooperative localization a group of robots exchange relative position measurements from their exteroceptive sensors and their motion information from interoceptive sensors to collectively estimate their position and heading. For the localization errors to be bounded, it is required that the system be observable independent of the estimation technique being used. In this paper, we develop a test-bed of three ground robots, which are equipped with wheel encoders and omnidirectional cameras, to implement the bearing-only cooperative localization. The simulation and experimental results validate the observability conditions, derived in [1], for the complete observability of the bearing-only cooperative localization problem.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2013
Accession Number
ADA591945

Entities

People

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

Organizations

  • Brigham Young University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Computers
  • Direction Finding
  • Directional
  • Electronic Mail
  • Engineering
  • Filters
  • Kalman Filters
  • Maximum Likelihood Estimation
  • Measurement
  • Navigation
  • Networks
  • Omnidirectional
  • Robotics
  • Simulations
  • Software Agents
  • Test Beds

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Inertial Navigation Systems.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control