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@Inproceedings { CognettiSFO2012,
   title = {Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems},
   year = {2012},
   month = {10},
   pages = {13-18},
   abstract = {We present a method for reconstructing the relative poses among the components of a multi-UAV system using anonymous (i.e., without identity information) robot-to-robot measurements. We consider two cases: bearing-only and bearing+distance measurements. While bearing can be rather directly extracted from a camera image, visual reconstruction of distances is more elaborate and typically associated with a larger noise. Nevertheless, our experiments show that use of such metric information improves significantly the quality of the localization.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2012l-CogSteFraOri-preprint.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.ifac-papersonline.net/Detailed/56943.html},
   editor = {Halme, A. , J. Suomela},
   event_place = {Espoo, Finland},
   event_name = {2nd IFAC Workshop on Multivehicle Systems (MVS 2012)},
   ISBN = {978-3-902823-15-1},
   DOI = {10.3182/20121003-3-SF-4024.00006},
   author = {Cognetti, M and Stegagno, P and Franchi, A and Oriolo, G}
}

@Inproceedings { CognettiSFOB2012,
   title = {3-D Mutual Localization with Anonymous Bearing Measurements},
   year = {2012},
   month = {5},
   pages = {791-798},
   abstract = {We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bearing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case [1], and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2012c-CogSteFraOriBue.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.icra2012.org/},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {St. Paul, MN, USA},
   event_name = {IEEE International Conference on Robotics and Automation (ICRA 2012)},
   DOI = {10.1109/ICRA.2012.6225288},
   author = {Cognetti, M and Stegagno, P and Franchi, A and Oriolo, G and B{\"u}lthoff, HH}
}

@Inproceedings { StegagnoCFO2011,
   title = {Mutual localization using anonymous bearing measurements},
   year = {2011},
   month = {9},
   pages = {469-474},
   abstract = {This paper addresses the problem of mutual localization in multi-robot systems in presence of anonymous (i.e., without the identity information) bearing-only measurements. The solution of this problem is relevant for the design and implementation of any decentralized multi-robot algorithm/control. A novel algorithm for probabilistic multiple registration of these measurements is presented, where no global localization, distances, or identity are used. With respect to more conventional solutions that could be conceived on the basis of the current literature, our method is theoretically suitable for tasks requiring frequent, many-to-many encounters among agents (e.g., formation control, cooperative exploration, multiple-view environment sensing). An extensive experimental study validates our method and compares it with the full-informative case of bearing-plus-distance measurements. The results show that the proposed localization system exhibits an accuracy commensurate to our previous method [1] which uses bearing-plus-distance information.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/IROS-2011-Stegnano.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.iros2011.org/},
   editor = {Amato, N.M.},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {San Francisco, CA, USA},
   event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)},
   ISBN = {978-1-61284-454-1},
   DOI = {10.1109/IROS.2011.6094635},
   author = {Stegagno, P and Cognetti, M and Franchi, A and Oriolo, G}
}