David Saussié — accepted AI-conference papers

2022

Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements

Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié, Jérôme Le Ny, James Richard Forbes

IROS 2022poster

In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically,…

Cited by 26 Source ↗Scholar ↗

2021

Localization with Directional Coordinates

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes

IROS 2021poster

A coordinate system is proposed that replaces the usual three-dimensional Cartesian x, y, z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, unlike spherical coordinates, the proposed coordinates do n…

Cited by 1 Source ↗Scholar ↗

2021

Relative Position Estimation Between Two UWB Devices With IMUs

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes, Jerome Le Ny

RA-L 2021

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between

Cited by 49 Source ↗Scholar ↗