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  On the solvability of the mutual localization problem with anonymous position measures

Franchi, A., Oriolo, G., & Stegagno, P. (2010). On the solvability of the mutual localization problem with anonymous position measures. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3193-3199). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C04A-1 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C04B-0
Genre: Conference Paper

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 Creators:
Franchi, A1, Author           
Oriolo, G, Author
Stegagno, P, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: This paper formulates and investigates a novel problem called Mutual Localization with Anonymous Position Measures. This is an extension of Mutual Localization with Position Measures, with the additional assumption that the identities of the measured robots are not known. A necessary and sufficient condition for the uniqueness of the solution is presented, which requires O(n2= log n) to be verified and is based on the notion of rotational symmetry in R2. We also derive the relationship between the number of robots and the number of possible solutions, and classify the solutions in a number of equivalence classes which is linear in n. A control law is finally proposed that effectively breaks symmetric formations so as to guarantee unique solvability of the problem is also proposed; its performance is illustrated through simulations.

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 Dates: 2010-05
 Publication Status: Issued
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-1-424-45038-1
URI: http://icra2010.grasp.upenn.edu/
DOI: 10.1109/ROBOT.2010.5509511
BibTex Citekey: 6414
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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Place of Event: Anchorage, AK, USA
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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3193 - 3199 Identifier: -