Title :
3D cooperative localization and mapping: Observability analysis
Author :
Cristofaro, A. ; Martinelli, A.
Author_Institution :
Sch. of Sci. & Technol., Univ. of Camerino, Camerino, Italy
fDate :
June 29 2011-July 1 2011
Abstract :
In this paper it is presented an analysis on observability properties of systems of cooperative flying robots equipped with inertial (IMU) and bearing sensors. Relating to the cooperative localization and mapping problem, the main issue of the present work is to enstablish which quanties are observable and thus can be estimated by the robots.
Keywords :
aerospace control; inertial systems; mobile robots; observability; 3D cooperative localization; 3D cooperative mapping; IMU; bearing sensors; cooperative flying robots; inertial sensors; observability analysis; Cameras; Observability; Robot kinematics; Robot vision systems;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5990915
