Graph-Based Observability Analysis of Bearing-Only Cooperative Localization

  title={Graph-Based Observability Analysis of Bearing-Only Cooperative Localization},
  author={Rajnikant Sharma and Randal W. Beard and Clark N. Taylor and Stephen Quebe},
  journal={IEEE Transactions on Robotics},
In this paper, we investigate the nonlinear observability properties of bearing-only cooperative localization. We establish a link between observability and a graph that represents measurements and communication between the robots. It is shown that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system. We obtain the maximum rank of the observability matrix without global information and derive… CONTINUE READING
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Introduction to Linear Algebra, 4th ed

  • G. Strang
  • 2009
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