Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks
Alan Papalia,Nicole Thumma,John Leonard,Alan Papalia,Nicole Thumma,John Leonard
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of the network, and poor configurations can cause substantial localization errors. To reduce the effect of network configuration on localization error for moving ...
