Theory · Relative Position Measurement Graph

Abstract In cooperative localization a group of robots exchange relative position measurements from their ex-teroceptive sensors and their motion information from interoceptive sensors to collectively estimate their po-sition and heading. For the localization errors to be bounded, it is required that the system be observable, independent of the estimation technique being used. In this paper, we develop a test-bed of three ground robots, which are equipped with wheel encoders and omnidirectional cameras, to implement the bearing-only cooperative localization. The simulation and experimen-tal results validate the observability conditions, derived in [1], for the complete observability of the bearing-only cooperative localization problem