DocumentCode
2848874
Title
3D cooperative localization and mapping: Observability analysis
Author
Cristofaro, A. ; Martinelli, A.
Author_Institution
Sch. of Sci. & Technol., Univ. of Camerino, Camerino, Italy
fYear
2011
fDate
June 29 2011-July 1 2011
Firstpage
1630
Lastpage
1635
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2011
Conference_Location
San Francisco, CA
ISSN
0743-1619
Print_ISBN
978-1-4577-0080-4
Type
conf
DOI
10.1109/ACC.2011.5990915
Filename
5990915
Link To Document