Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360’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’s local coordinate system. The triangles represent a rigid formation of two robots a fixed distance apart.
Ranges-only localization does not fully constrain relative pose:
Ranges + Bearing for one target fully constrains relative pose: