Keywords
Cooperative Localization
Abstract
In this report we investigate the nonlinear observability properties of bearing-only cooperative localization. We establish a link between observability and a graph representing measurements and communication between the robots. It is shown that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system.
BYU ScholarsArchive Citation
Sharma, Rajnikant, "Observability Analysis of Bearing-only Cooperative Localization" (2010). Faculty Publications. 1304.
https://scholarsarchive.byu.edu/facpub/1304
Document Type
Report
Publication Date
2010-11-10
Permanent URL
http://hdl.lib.byu.edu/1877/2652
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Electrical and Computer Engineering
Copyright Status
© 2010 Rajnikant Sharma
Copyright Use Information
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