Observability-aware Target Tracking with Range Only Measurement

Perception-Aware Trajectory Planning for a Pair of Unicycle-Like Robots With Absolute and Relative Ranging Measurements

“…These ideas are extended to multiagent systems in [9], where the vehicles use mutual range measurements to localise themselves in the environment. Range-based information have been used in [10], [11] to maximise observability (measured by the Fisher Information Matrix and by the Observability Matrix, respectively), while Mandić et al [12] combine observability maximisation with the leaderfollower idea. Active sensing techniques have also been used in multiagent system to improve the localisation estimate of the agents of the system itself, relying on bearing [13] or on ranging data [14].…”

On Local/Global Constructibility for Mobile Robots Using Bounded Range Measurements

“…An important number of papers deal with the observability of range-based systems for ground applications [11], [12], [13] and for Autonomous Underwater vehicles (AUVs) [14], [15], for which observability is studied by computing the observability matrix for systems with simplified dynamics, e.g., a double integrator [16] or a unicycle [17]. Bayat et al [18] carry out an observability analysis for a nonholonomic AUV, restricting to the case of trimming trajectories.…”