Perception-aware trajectory planning for a pair of vehicles avoiding indistinguishability
Riz, Francesco, Daniele Fontanelli, Luigi Palopoli · Zenodo (CERN European Organization for Nuclear Research) · 2022
We consider a pair of unicycle vehicles, completely unaware of their position and orientation in the environment. By moving across the environment, each robot can rely on bounded range ranging measurements collected from a fixed-frame anchor and from the other vehicle. We propose a trajectory planning algorithm that allows the two robots to simultaneously reconstruct their state, i.e. to localise themselves in the environment.