Accession Number:

ADA591902

Title:

Graph-based Observability Analysis of Bearing-only Cooperative Localization

Descriptive Note:

Journal article

Corporate Author:

BRIGHAM YOUNG UNIV PROVO UT DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2012-04-01

Pagination or Media Count:

8.0

Abstract:

In this paper 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. We obtain the maximum rank of the observability matrix without global information and derive conditions under which the maximum rank can be achieved. Furthermore, we show that for complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location.

Subject Categories:

  • Statistics and Probability

Distribution Statement:

APPROVED FOR PUBLIC RELEASE