New chapter book paper in “Decision Making under Constraints” book edited by M Cerebio and V. Kreinovich
I.-F. Kenmogne, V. Drevelle, E. Marchand. Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging. In Decision Making under Constraints, Studies in Systems, Decision and Control 276, M Cerebio, V. Kreinovich (eds.), pp. 133-138, Springer Nature, Switzerland, March 2020.
This paper addresses the problem of cooperative localization in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to tracks landmarks, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot first computes a pose domain using only its sensors measurements, by using set inversion via interval analysis (Moore in Interval analysis. Prentice Hall, 1966 ). Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results are presented with real robot data, and show position accuracy improvement thanks to cooperation.