Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements
Justin Cano,Gaël Pages,Eric Chaumette,Jerome Le Ny,Justin Cano,Gaël Pages,Eric Chaumette,Jerome Le Ny
Position estimation in Multi-Robot Systems (MRS) relies on relative angle or distance measurements between the robots, which generally deteriorate as distances increase. Moreover, the localization accuracy is strongly influenced both by the quality of the raw measurements but also by the overall geometry of the network. In this paper, we design a cost function that accounts for these two issues an...
