Collaborative Multi-Robot Localization in Natural Terrain
Adam Wiktor,Stephen Rock,Adam Wiktor,Stephen Rock
This paper presents a novel filter architecture that allows a team of vehicles to collaboratively localize using Terrain Relative Navigation (TRN). The work explores several causes of measurement correlation that preclude the use of traditional estimators, and proposes an estimator structure that eliminates one source of measurement correlation while properly incorporating others through the use o...
