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Relative localization and identification in a heterogeneous multi-robot system
2013
2013 IEEE International Conference on Robotics and Automation
We develop a localization method for a single-UAV/multi-UGV heterogeneous system of robots. Considering the natural supervisory role of the UAV and the challenging (but realistic) assumption that the UAV-to-UGV measurements do not include the identities of the UGVs, we have adopted the PHD filter as a multi-target tracking technique. However, the standard version of this filter does not take into account odometric information coming from the targets, nor does it solve the problem of estimating
doi:10.1109/icra.2013.6630822
dblp:conf/icra/StegagnoCRPO13
fatcat:usqlenkimzdnbih5f6c27kgrka