Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning
Justin Cano Jerome Le Ny Justin Cano Jerome Le Ny
Ranging systems can provide inexpensive, accurate, energy- and computationally-efficient navigation solutions for mobile robots. This work focuses on location and pose estimation in ranging networks composed of anchors with known positions as well as mobile robots modeled as rigid bodies, each carrying multiple tags to localize. Noisy distance measurements can be obtained between a subset of the n...