Maintaining Robot Localizability with Bayesian Cramér-Rao Lower Bounds
Justin Cano,Corentin Chauffaut,Eric Chaumette,Gaël Pages,Jerome Le Ny,Justin Cano,Corentin Chauffaut,Eric Chaumette,Gaël Pages,Jerome Le Ny
Accurate and real-time position estimates are cru-cial for mobile robots. This work focuses on ranging-based positioning systems, which rely on distance measurements between known points, called anchors, and a tag to localize. The topology of the network formed by the anchors strongly influences the tag's localizability, i.e., its ability to be accurately localized. Here, the tag and some anchors ...
