CLC number: TP18
On-line Access:
Received: 2003-09-24
Revision Accepted: 2003-12-22
Crosschecked: 0000-00-00
Cited: 1
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ZHANG Fan. Graph rigidity and localization of multi-robot formations[J]. Journal of Zhejiang University Science A, 2004, 5(5): 558-566.
@article{title="Graph rigidity and localization of multi-robot formations",
author="ZHANG Fan",
journal="Journal of Zhejiang University Science A",
volume="5",
number="5",
pages="558-566",
year="2004",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2004.0558"
}
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%D 2004
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2004.0558
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T1 - Graph rigidity and localization of multi-robot formations
A1 - ZHANG Fan
J0 - Journal of Zhejiang University Science A
VL - 5
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SP - 558
EP - 566
%@ 1869-1951
Y1 - 2004
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2004.0558
Abstract: This paper provides theoretical foundation for the problem of localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.
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