Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 28, Issue 2, Pages 522-529Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2011.2172699
Keywords
Multi-agent navigation; networked robots; non-linear observability analysis
Categories
Funding
- Air Force Young Investigator Award [FA9550-07-1-0167]
Ask authors/readers for more resources
In this paper, we investigate the nonlinear observability properties of bearing-only cooperative localization. We establish a link between observability and a graph that represents measurements and communication between the robots. It is shown that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system. We obtain the maximum rank of the observability matrix without global information and derive conditions under which the maximum rank can be achieved. Furthermore, we show that for complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available