Tether-Based Localization for Cooperative Ground and Aerial Vehicles

Considering a multi-robot system composed of ground vehicle and multi-copter connected each other with tether, it is crucial for them to know their relative positions in order carry out any operating task. Localization usually accomplished by using GPS outdoor environments. However, such does not work indoor more generally so-called denied We investigated solution which exploits the catenary configuration assumed tether require computationally demanding resource or complex cable tension sensors. Different approaches have been experimentally tested, compared validated classical localization systems both