Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to technologies such as ultra-wideband radio. However, the task o...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2021-07, Vol.6 (3), p.4955-4961
Main Authors: Shalaby, Mohammed, Cossette, Charles Champagne, Forbes, James Richard, Le Ny, Jerome
Format: Article
Language:English
Subjects:
Accelerometers
Coupling
Distance measurement
Estimation
Localization
Location awareness
Multi-agent systems
multi-robot systems
Multiagent systems
Observability
Position measurement
Rigidity
swarm robotics
Ultrawideband
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Summary:The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to technologies such as ultra-wideband radio. However, the task of three-dimensional relative position estimation using range measurements in multi-agent systems suffers from unobservabilities. This letter presents a sufficient condition for the observability of the relative positions, and satisfies the condition using a simple framework with only range measurements, an accelerometer, a rate gyro, and a magnetometer. The framework has been tested in simulation and in experiments, where 40-50 cm positioning accuracy is achieved using inexpensive off-the-shelf hardware.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3067253