I have a problem with two robots and two obstacles in a space. Each robot can communicate its measurements to the other and can measure angles and distances. The two obstacles in the environment are identical to each other.
Each robot can see both obstacles but not each other. Therefore have angle theta 1 and 2 combined with distance 1 and 2. Can the distance between the two robots be calculated?
So far I have placed circles with radius of the measured distance over each landmark (triangles in my workings), this provides 4 possible positions for each robot. Red and black circles correspond to robot 1 and blue and green to robot 2. Using the relative size of the angle measurements I can discount two of these positions per robot. This still leaves me with two possible positions for each robot shown with the filled or hashed circles.
Is it possible to calculate which side the robot is to the landmarks and the distance between each other?
Robot 1 only has the two measurements of angle and distance and can therefore assign an id to each obstacle, but when information is transmitted to robot 2, robot 2 does not know which obstacle will have been designated an id of 1 or 2.