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.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
© 2010 Rajnikant Sharma
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