HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Active Decentralized Scale Estimation for Bearing-Based Localization

Riccardo Spica 1 Paolo Robuffo Giordano 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : — In this paper, we propose a novel decentralized active perception strategy that maximizes the convergence rate in estimating the (unmeasurable) formation scale in the context of bearing-based formation localization for robots evolving in R 3 × S 1. The proposed algorithm does not assume presence of a global reference frame and only requires bearing-rigidity of the formation (for the localization problem to admit a unique solution), and presence of (at least) one pair of robots in mutual visibility. Two different scenarios are considered in which the active scale estimation problem is treated either as a primary task or as a secondary objective with respect to the constraint of attaining a desired bearing formation. The theoretical results are validated by realistic simulations.
Document type :
Conference papers
Complete list of metadata

Cited literature [31 references]  Display  Hide  Download

https://hal.inria.fr/hal-01355789
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, August 24, 2016 - 11:22:34 AM
Last modification on : Wednesday, November 3, 2021 - 4:36:24 AM
Long-term archiving on: : Friday, November 25, 2016 - 1:11:52 PM

File

IROS16_0412_FI.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01355789, version 1

Citation

Riccardo Spica, Paolo Robuffo Giordano. Active Decentralized Scale Estimation for Bearing-Based Localization. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. ⟨hal-01355789⟩

Share

Metrics

Record views

249

Files downloads

356