Application and Assessment of Cooperative Localization in Three-Dimensional Vehicle Networks

The trajectory planning and control of multi-agent systems requires accurate localization, which may not be possible when GPS signals fixed features required for SLAM are available. Cooperative Localization (CL) in offers a short-term solution that significantly improve vehicle pose estimation. CL algorithms have been mainly developed assessed planar mobile robot networks due to complexities singularities three-dimensional (3D) motion. In this paper, we develop the singularity-free equations apply assess an EKF-based 3D networks. We performance with respect number simultaneous redundant measurements. further only relative position measurements Finally, experiments performed validate proposed algorithms. investigate effect absolute CL. Conclusions: localization is effective method applied However, does measurements, thus previously reported results 2D models were orientation Absolute measurement reduces overall errors much more there has prior