Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging

  • Ide-Flore Kenmogne
  • Vincent DrevelleEmail author
  • Eric Marchand
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 276)


This paper addresses the problem of cooperative localization in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to tracks landmarks, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot first computes a pose domain using only its sensors measurements, by using set inversion via interval analysis (Moore in Interval analysis. Prentice Hall, 1966 [1]). Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results are presented with real robot data, and show position accuracy improvement thanks to cooperation.


Intervals Cooperative localization Constraints propagation 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ide-Flore Kenmogne
    • 1
  • Vincent Drevelle
    • 1
    Email author
  • Eric Marchand
    • 1
  1. 1.Univ Rennes, Inria, CNRS, IRISARennesFrance

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