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In this paper, we study the problem of Cooperative Localization (CL) for two robots, each equipped with an Inertial Measurement Unit (IMU) and a camera. We present an algorithm that enables the robots to exploit common features, observed over a sliding-window time horizon, in order to improve the localization accuracy of both vehicles. In contrast to existing CL methods, which require robot-to-robot...
This paper addresses the problem of determining the optimal robot trajectory for localizing a robot follower in a leader-follower formation using robot-to-robot distance or bearing measurements. In particular, maintaining a perfect formation has been shown to reduce the localization accuracy (as compared to moving randomly), or even leads to loss of observability when only distance or bearing measurements...
In this paper, we study the problem of optimal trajectory generation for a team of heterogeneous robots moving in a plane and tracking a moving target by processing relative observations, i.e., distance and/or bearing. Contrary to previous approaches, we explicitly consider limits on the robots’ speed and impose constraints on the minimum distance at which the robots are allowed to approach the target...
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