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

Cognetti, M; Stegagno, P; Franchi, A; Oriolo, G

doi:10.3182/20121003-3-SF-4024.00006

Item

ITEM ACTIONSEXPORT

Add to Basket

Local TagsRelease HistoryDetailsSummary

Released

Conference Paper

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

MPS-Authors

/persons/resource/persons83915

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

External Resource

https://www.sciencedirect.com/science/article/pii/S1474667015338751
(Publisher version)

Fulltext (restricted access)

There are currently no full texts shared for your IP range.

Fulltext (public)

There are no public fulltexts stored in PuRe

Supplementary Material (public)

There is no public supplementary material available

Citation

Cognetti, M., Stegagno, P., Franchi, A., & Oriolo, G. (2012). Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. In A. Halme, & J. Suomela (Eds.), IFAC Proceedings Volumes (pp. 13-18).

Cite as: https://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.