TY - JOUR
T1 - Cooperative self-localization of mobile agents
AU - Shames, Iman
AU - Fidan, Baris
AU - Anderson, Brian D.O.
AU - Hmam, Hatem
PY - 2011/7
Y1 - 2011/7
N2 - This paper considers the problem of localizing multiple agents, e.g. unmanned aerial vehicles (UAVs), robots, etc., moving in two-dimensional space when the known data comprise 1) the inter-agent distances, and 2) the angle subtended at each agent by lines drawn from two landmarks at known positions. Later it is shown that this result has direct application in a different general robotic problem, viz. robot-to-robot relative pose determination (relative reference frame determination), using measured distances. The methods proposed are validated through simulations and experiments.
AB - This paper considers the problem of localizing multiple agents, e.g. unmanned aerial vehicles (UAVs), robots, etc., moving in two-dimensional space when the known data comprise 1) the inter-agent distances, and 2) the angle subtended at each agent by lines drawn from two landmarks at known positions. Later it is shown that this result has direct application in a different general robotic problem, viz. robot-to-robot relative pose determination (relative reference frame determination), using measured distances. The methods proposed are validated through simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=79960109909&partnerID=8YFLogxK
U2 - 10.1109/TAES.2011.5937274
DO - 10.1109/TAES.2011.5937274
M3 - Article
SN - 0018-9251
VL - 47
SP - 1926
EP - 1947
JO - IEEE Transactions on Aerospace and Electronic Systems
JF - IEEE Transactions on Aerospace and Electronic Systems
IS - 3
M1 - 5937274
ER -