3D cooperative localization and mapping: Observability analysis
Andrea Cristofaro, Agostino Martinelli · 2011
In this paper it is presented an analysis on observability properties of systems of cooperative flying robots equipped with inertial (IMU) and bearing sensors. Relating to the cooperative localization and mapping problem, the main issue of the present work is to enstablish which quanties are observable and thus can be estimated by the robots.