Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Charles Champagne Cossette,Mohammed Ayman Shalaby,David Saussié,Jérôme Le Ny,James Richard Forbes,Charles Champagne Cossette,Mohammed Ayman Shalaby,David Saussié,Jérôme Le Ny,James Richard Forbes
In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the true relative poses themselves, ...
