Abstract
This paper addresses the problem of cooperative localization in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to tracks landmarks, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot first computes a pose domain using only its sensors measurements, by using set inversion via interval analysis (Moore in Interval analysis. Prentice Hall, 1966 [1]). Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results are presented with real robot data, and show position accuracy improvement thanks to cooperation.
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References
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Kenmogne, IF., Drevelle, V., Marchand, E. (2020). Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging. In: Ceberio, M., Kreinovich, V. (eds) Decision Making under Constraints. Studies in Systems, Decision and Control, vol 276. Springer, Cham. https://doi.org/10.1007/978-3-030-40814-5_16
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DOI: https://doi.org/10.1007/978-3-030-40814-5_16
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