ABSTRACT
This chapter discusses the problem of the collaborative self-localization and target tracking (CLAT) method under challenge environment. Specifically, the scenario with general nonlinear process and sensing model as well as sparse communication is considered by combining the distributed tracking (DT) and collaborative localization (CL) techniques. The chapter introduces the related works, such as collaborative localization and distributed tracking and explores the CLAT problem under the system setup. it provides experimental validation based on the proposed method. The proposed method on a multi-UAV-based target localization scenario. The system consists of several Intel Aero quad-rotors equipped with the UWB sensors and a downward monochrome camera. The UWB sensors are to measure the relative distance and transmit information when two quad-rotors are within the functional range of the UWB sensors. Also, a camera is rigidly connected to the body frame of each quad-rotors.
