{"id":392,"date":"2018-02-16T16:35:20","date_gmt":"2018-02-16T16:35:20","guid":{"rendered":"https:\/\/peterklemperer.com\/blog\/?p=392"},"modified":"2018-02-16T16:35:20","modified_gmt":"2018-02-16T16:35:20","slug":"three-robot-formation-localization","status":"publish","type":"post","link":"https:\/\/peterklemperer.com\/blog\/2018\/02\/16\/three-robot-formation-localization\/","title":{"rendered":"Three-Robot Formation Localization"},"content":{"rendered":"<p>Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360&#8217;s sketch view to help visualize the limits of the constraints. In the videos, the Hexagon represents a robot fixed at the origin of it&#8217;s local coordinate system. The triangles represent a rigid formation of two robots a fixed distance apart.<\/p>\n<p>Ranges-only localization does not fully constrain relative pose:<\/p>\n<p><iframe loading=\"lazy\" width=\"640\" height=\"590\" src=\"https:\/\/screencast.autodesk.com\/Embed\/Timeline\/bfcff7c2-a081-4720-96d6-79a1463b0ba4\" frameborder=\"0\" allowfullscreen webkitallowfullscreen><\/iframe><\/p>\n<p>Ranges + Bearing for one target fully constrains relative pose:<\/p>\n<p><iframe loading=\"lazy\" width=\"640\" height=\"590\" src=\"https:\/\/screencast.autodesk.com\/Embed\/Timeline\/22a62b67-3922-4c3c-9f12-3667912e39f3\" frameborder=\"0\" allowfullscreen webkitallowfullscreen><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360&#8217;s sketch view to help visualize the limits of the constraints. In the videos, the Hexagon represents a robot fixed at the origin &hellip; <a href=\"https:\/\/peterklemperer.com\/blog\/2018\/02\/16\/three-robot-formation-localization\/\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[90,6,80],"tags":[],"class_list":["post-392","post","type-post","status-publish","format-standard","hentry","category-cad","category-projects","category-robotics"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/p1VqWo-6k","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/392","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/comments?post=392"}],"version-history":[{"count":0,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/392\/revisions"}],"wp:attachment":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/media?parent=392"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/categories?post=392"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/tags?post=392"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}