Rigidity guided localisation for mobile robotic sensor networks

Changhua Wu, Ying Zhang, Weihua Sheng, Saroja Kanchi
2010 International Journal of Ad Hoc and Ubiquitous Computing  
This paper introduces a rigidity-guided localisation approach for mobile robotic sensor networks. The localisation uses a distance graph composed of both the robot-to-robot ranging data and the motion trajectories from robot odometry. The motion of a robot depends on the result of the rigidity test of its local distance graph: if the graph is not uniquely localisable, the robot moves around in its neighbourhood to collect at least two extra ranging data with each of its neighbours in order to
more » ... bours in order to make the extended graph uniquely localisable. Locally unique maps are then merged into a globally consistent map.
doi:10.1504/ijahuc.2010.034324 fatcat:7cfdqaqoozd3hg3x5woblhodi4