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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.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea
https://hal.inria.fr/hal-01355789
Contributeur : Eric Marchand
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Soumis le : mercredi 24 août 2016 - 11:22:34
Dernière modification le : jeudi 15 novembre 2018 - 11:57:08
Document(s) archivé(s) le : vendredi 25 novembre 2016 - 13:11:52
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〉
