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Active Decentralized Scale Estimation for Bearing-Based Localization
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.
Cited literature [31 references]
https://hal.inria.fr/hal-01355789
Contributor : Eric Marchand <>
Submitted on : Wednesday, August 24, 2016 - 11:22:34 AM
Last modification on : Friday, July 10, 2020 - 4:11:56 PM
Long-term archiving on: : Friday, November 25, 2016 - 1:11:52 PM
Contributor : Eric Marchand <>
Submitted on : Wednesday, August 24, 2016 - 11:22:34 AM
Last modification on : Friday, July 10, 2020 - 4:11:56 PM
Long-term archiving on: : Friday, November 25, 2016 - 1:11:52 PM
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IROS16_0412_FI.pdf
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