TY - GEN
T1 - Determining the robot-to-robot relative pose using range-only measurements
AU - Zhou, Xun S.
AU - Roumeliotis, Stergios I.
PY - 2007
Y1 - 2007
N2 - In this paper we address the problem of determining the relative pose of pairs robots that move on a plane while measuring the distance to each other. We show that the minimum number of distance measurements required for the 3 degrees of freedom robot-to-robot transformation to become locally observable is 3. Furthermore, we prove that the maximum number of possible solutions in this case is 6, while a minimum of 5 distance measurements is necessary in order to uniquely determine the robots' relative pose. Finally, we present efficient algorithms for computing all possible solutions and evaluate the validity of our theoretical results both in simulation and experimentally.
AB - In this paper we address the problem of determining the relative pose of pairs robots that move on a plane while measuring the distance to each other. We show that the minimum number of distance measurements required for the 3 degrees of freedom robot-to-robot transformation to become locally observable is 3. Furthermore, we prove that the maximum number of possible solutions in this case is 6, while a minimum of 5 distance measurements is necessary in order to uniquely determine the robots' relative pose. Finally, we present efficient algorithms for computing all possible solutions and evaluate the validity of our theoretical results both in simulation and experimentally.
UR - http://www.scopus.com/inward/record.url?scp=36348977571&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348977571&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364097
DO - 10.1109/ROBOT.2007.364097
M3 - Conference contribution
AN - SCOPUS:36348977571
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4025
EP - 4031
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -