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- W4313139029 abstract "In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the true relative poses themselves, which prompts the desire to find multi-robot formations that provide the best estimation performance. By direct maximization of Fischer information, it is shown in simulation and experiment that large improvements in estimation accuracy can be obtained by optimizing the formation geometry of a team of robots." @default.
- W4313139029 created "2023-01-06" @default.
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- W4313139029 date "2022-10-23" @default.
- W4313139029 modified "2023-10-16" @default.
- W4313139029 title "Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements" @default.
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- W4313139029 doi "https://doi.org/10.1109/iros47612.2022.9981301" @default.
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