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Conference Paper

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

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons83863

Cognetti,  M
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

Stegagno P, Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Cognetti, M., Stegagno P, Franchi, A., & Oriolo, G. (2012). Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. In 2nd IFAC Workshop on Multivehicle Systems (MVS 2012) (pp. 13-18).


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-B5CA-9
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.