Optimal trajectory design for a DTOA based multi-robot angle of arrival estimation system for rescue operations

In this article we present an angle of arrival (AoA) multi-robot system for rescue purposes which takes advantage of robots´ mobility to improve the position estimate of an unknown target. The robots move according to a certain trajectory (a sequence of stopping points) designed to minimize the variance of the AoA estimation. We present two different techniques to generate these optimal trajectories, with each technique having its own advantage.