Observability based control for cooperative localization

In this paper, we focus on localizing a stationary target in a GPS denied environment using a team of aerial unmanned aerial vehicles equipped with bearing-only sensors. The vehicles use cooperative localization to localize themselves and the target. We develop an observability-based controller that improves the overall localization accuracy of the team as well as of the target. We use receding horizon control to plan vehicle paths such that the nonlinear observability conditions are satisfied while improving the localization accuracy and maintaining minimum safe distance from each other and the landmarks. The controller performance is verified using simulation results.