Journal ArticleDOI
Observability Conditions for Switching Sensing Topology for Cooperative Localization
Anusna Chakraborty,Sohum Misra,Rajnikant Sharma,Clark N. Taylor +3 more
- Vol. 05, Iss: 03, pp 141-157
TLDR
This paper solves a discrete-time bearing-only cooperative localization problem for a team of autonomous vehicles with a special focus on switching sensing topology and develops a centralized Extended Ka-band localization system.Abstract:
In this paper, we solve a discrete-time bearing-only cooperative localization problem for a team of autonomous vehicles with a special focus on switching sensing topology. A centralized Extended Ka...read more
Citations
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Journal ArticleDOI
A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots
Guanqiang Gao,Bin Xin +1 more
TL;DR: In this paper, an auction-based spanning tree coverage (A-STC) algorithm is proposed to deal with the MCMP problem in which every reachable area must be covered is common in multi-robot systems.
Journal ArticleDOI
Relative Docking and Formation Control via Range and Odometry Measurements
Kun Cao,Zhirong Qiu,Lihua Xie +2 more
TL;DR: It is rigorously proved that the robot will converge to the desired docking position asymptotically provided that control gains are chosen to satisfy certain conditions.
Journal ArticleDOI
A Robust Distributed Interval Observer for LTI Systems
TL;DR: In this article , a robust distributed interval observer is designed, which consists of a group of sensors communicating with others through a directed graph where each sensor can only access partial information from the output of the plant.
Journal ArticleDOI
Unscented Transformation-Based Multi-Robot Collaborative Self-Localization and Distributed Target Tracking
TL;DR: In this paper, an unscented transformation-based collaborative self-localization and target tracking algorithm is proposed to deal with nonlinearity in the processes and measurement models, which does not require computation of the Jacobian matrix.
Journal ArticleDOI
A Robust Distributed Interval Observer for LTI Systems
TL;DR: In this article , a robust distributed interval observer is designed, which consists of a group of sensors communicating with others through a directed graph where each sensor can only access partial information from the output of the plant.
References
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Journal ArticleDOI
Distributed multirobot localization
TL;DR: The distributed localization algorithm is applied to a group of three robots and the improvement in localization accuracy is presented and a comparison to the equivalent decentralized information filter is provided.
Journal ArticleDOI
Cooperative localization for autonomous underwater vehicles
James C. Preisig,Alexander Bahr +1 more
TL;DR: An algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles that is computationally efficient, meets the strict bandwidth requirements of available AUV modems, and has potential to scale well to networks of large numbers of vehicles.
Journal ArticleDOI
Performance analysis of multirobot Cooperative localization
TL;DR: It is shown that, for a robot group of a certain size, the maximum expected rate of uncertainty increase is independent of the accuracy and number of relative position measurements and depends only on the accuracy of the proprioceptive and orientation sensors on the robots.
Journal ArticleDOI
Graph-Based Observability Analysis of Bearing-Only Cooperative Localization
TL;DR: This paper establishes a link between observability and a graph that represents measurements and communication between the robots and shows that for complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location.
Journal ArticleDOI
A distributed algorithm for cooperative navigation among multiple mobile robots
TL;DR: The cooperative navigation system (CNS) algorithm described here is based on a Kalman filter which uses inter-robot position sensing to update the collective position estimates of the group.