Optimal multi-robot formations for relative pose estimation using range measurements
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, which prompts the desire to find multi-robot formations that
provide the best estimation performance. By direct maximization of Fischer information, it is …
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, which prompts the desire to find multi-robot formations that
provide the best estimation performance. By direct maximization of Fischer information, it is …
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
C Champagne Cossette, M Ayman Shalaby… - arXiv e …, 2022 - ui.adsabs.harvard.edu
In multi-robot missions, relative position and attitude information between agents 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-agent range measurements is
investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the
true relative poses themselves, which prompts the desire to find multi-agent formations that
provide the best estimation performance. By direct maximization of Fischer information, it is …
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-agent range measurements is
investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the
true relative poses themselves, which prompts the desire to find multi-agent formations that
provide the best estimation performance. By direct maximization of Fischer information, it is …
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