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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.
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https://hal.inria.fr/hal-01355789
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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⟩

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