Title: Error propagation and solvability in UAV localisation based on trilateration with a multi robot formation

Authors: Luis Ruiz; Zhidong Wang

Addresses: Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan ' Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan

Abstract: This works presents how the propagation of errors from stations affects the trilateration, as seen from the error in the receiver covariance. Also, a method to calculate a solvability map in real-time is developed. This map is useful to select formations when using trilateration and to choose how a multi robot formation has to move in a given environment. The mathematical tools used are explained and proven in a real-time test and a simulation. The multi robot formation consists of omnidirectional wheeled mobile robots and an unmanned aerial vehicle in three dimensions.

Keywords: trilateration; solvability; multi robot; localisation.

DOI: 10.1504/IJMA.2016.084229

International Journal of Mechatronics and Automation, 2016 Vol.5 No.4, pp.201 - 210

Available online: 18 May 2017 *

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