A Calibration Method of the Multi-agent System Between Local Frames Using Bearing-only Measurements

This paper studies the calibration problem of the transformation relationship between local coordinate frames in a distributed multi-agent system. The agents can only measure the bearing information and no global information is shared among all the agents. With the data sampled discretely, we first solve the transformation relationship by building linear equations. It turns out that the uniqueness of the solution plays a crucial role in the calibration problem. We then establish respectively the necessary conditions and sufficient conditions to solve the calibration problem. Experiments are conducted to prove the feasibility of the proposed calibration methods.