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Article Dans Une Revue IFAC Proceedings Volumes Année : 2012

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

Résumé

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.
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hal-04287193 , version 1 (15-11-2023)

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Marco Cognetti, Paolo Stegagno, Antonio Franchi, Giuseppe Oriolo. Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. IFAC Proceedings Volumes, 2012, 45 (28), pp.13-18. ⟨10.3182/20121003-3-SF-4024.00006⟩. ⟨hal-04287193⟩
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