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This paper considers the problem of localizing multiple agents, e.g. unmanned aerial vehicles (UAVs), robots, etc., moving in two-dimensional space when the known data comprise 1) the inter-agent distances, and 2) the angle subtended at each agent by lines drawn from two landmarks at known positions. Later it is shown that this result has direct application in a different general robotic problem, viz. robot-to-robot relative pose determination (relative reference frame determination), using measured distances. The methods proposed are validated through simulations and experiments.
Aerospace and Electronic Systems, IEEE Transactions on (Volume:47 , Issue: 3 )
Date of Publication: July 2011