Determining the robot-to-robot relative pose using range-only measurements

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4025-4031
Number of pages7
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

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