Modeling Error in Optical Angle Measurements for Position and Orientation Estimation in Sensor Networks

Vukasin, Gabrielle.


  • Abstract: In this dissertation, I describe two investigations involving the use of angle-of-arrival (AoA) measurements to enable decentralized localization within a robot team. The first investigation developed a new method for relative orientation estimation by modifying an existing relative-position algorithm called alternating-normals iterative method (ANIM). The second investigation was an exp... read more
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