IEEE Robotics & Automation Magazine - September 2017 - 74

0.5
Error (m) Between
Followers 1 and 2

0.4

Error (m) Between
Follower 1 and Leader

0.3
0.2
0.1
0

0

200

400

600

800

1,000

1,200

Figure 12. The errors between follower 1 and leader and
between followers 1 and 2.

efficiently according to its objectives. With this architecture,
it would be easy to add other sensors. The BN structure
allows high flexibility on the parameters, and it is easy to add
a new event as a disconnection sensor. Future work will be
dedicated to the adaptation to real maps (uncertainties of a
landmark's position, detection of new landmarks, etc.).
Acknowledgments
This work was sponsored by the French government research
program Investissements d'avenir through the RoboTex
Equipment of Excellence (ANR-10-EQPX-44) and the
IMobS3 Laboratory of Excellence (ANR-10-LABX-16-01), by
the European Union through the program regional competitiveness and employment 2007-2013, by the Auvergne region,
and by the French Institute for Advanced Mechanics.
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Claude Aynaud, Institut Pascal, Campus Universitaire des
Cezeaux, Aubière Cedex, France. E-mail: caynaud@gmail.com.
Coralie Bernay-Angeletti, Institut Pascal, Campus Universitaire
des Cezeaux, Aubière Cedex, France. E-mail: coralie.bernayangeletti@isima.fr.
Romuald Aufrère, Institut Pascal, Campus Universitaire des
Cezeaux, Aubière Cedex, France. E-mail: romuald.aufrere@
uca.fr.
Laurent Lequièvre, Institut Pascal, Campus Universitaire des
Cezeaux, Aubière Cedex, France. E-mail: laurent.lequivre@
uca.fr.
Christophe Debain, Irstea-Centre de Clermont Ferrand,
Aubière, France. E-mail: christophe.debain@irstea.fr.
Roland Chapuis, Institut Pascal, Campus Universitaire des
Cezeaux, Aubière Cedex, France. E-mail: roland.chapuis@
uca.fr.
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2017
