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In this paper, we focus on localizing a stationary target in a GPS denied environment using a team of aerial unmanned aerial vehicles equipped with bearing-only sensors. The vehicles use cooperative localization to localize themselves and the target. We develop an observability-based controller that improves the overall localization accuracy of the team as well as of the target. We use receding horizon...
In this paper, we present a cooperative approach to geo-localize a ground target using bearing-only localization of Unmanned Aerial Vehicles (UAVs). We design a distributed path planning algorithm using receding horizon control, which improves the localization accuracy of the target and of all of the air vehicles simultaneously while satisfying the observability conditions. We show that the cooperative...
In this paper, we investigate the nonlinear observability properties of bearing-only cooperative localization. We establish a link between observability and a graph that represents measurements and communication between the robots. It is shown that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system....
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