Perception-Aware Trajectory Planning for a Pair of Unicycle-Like Robots With Absolute and Relative Ranging Measurements

We consider two “kidnapped” unicycle vehicles released in an unknown environment. Each one is in sight of a ranging sensor (anchor) and has to choose a trajectory that enables it to localise itself relying only on its anchor measurements, on its odometry and on the information (state and mutual distance) that it can exchange with the other vehicle when they are sufficiently close. We propose a motion planning algorithm that solves the simultaneous localisation problem in this challenging scenario.