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  Mutual localization using anonymous bearing measurements

Stegagno, P., Cognetti, M., Franchi, A., & Oriolo, G. (2011). Mutual localization using anonymous bearing measurements. In N. Amato (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 469-474). Piscataway, NJ, USA: IEEE.

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 Creators:
Stegagno, P, Author
Cognetti, M, Author              
Franchi, A1, 2, Author              
Oriolo, G, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: This paper addresses the problem of mutual localization in multi-robot systems in presence of anonymous (i.e., without the identity information) bearing-only measurements. The solution of this problem is relevant for the design and implementation of any decentralized multi-robot algorithm/control. A novel algorithm for probabilistic multiple registration of these measurements is presented, where no global localization, distances, or identity are used. With respect to more conventional solutions that could be conceived on the basis of the current literature, our method is theoretically suitable for tasks requiring frequent, many-to-many encounters among agents (e.g., formation control, cooperative exploration, multiple-view environment sensing). An extensive experimental study validates our method and compares it with the full-informative case of bearing-plus-distance measurements. The results show that the proposed localization system exhibits an accuracy commensurate to our previous method [1] which uses bearing-plus-distance information.

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 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2011.6094635
BibTex Citekey: StegagnoCFO2011
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Event: San Francisco, CA, USA
Start-/End Date: 2011-09-25 - 2011-09-30

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
 Creator(s):
Amato, NM, Editor
Affiliations:
-
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 469 - 474 Identifier: ISBN: 978-1-61284-454-1