Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the robots' positions in $\mathbb{R}^3$ without knowledge of their orientations. The orientations in $\mathrm{SO}(3)$ are recovered from the estimated positions, the bearings, and the bearing derivatives. The proposed observer only requires the (directed) sensing topology to be \textit{angle-rigid}, a weaker condition than the commonly used ones like bearing rigidity. Local uniform exponential stability of the proposed observer is established under the assumption of persistently exciting motions for a subset of robots. Simulations are presented and discussed to evaluate the scheme's effectiveness and practicality.
Code (0)
등록된 구현이 없습니다.
Tasks
Pose EstimationSimilar Papers 제목 키워드 기반
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot'…
Pose EstimationCREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suffer from non-line-of-sight degradation a…
Pose EstimationObservability-driven Assignment of Heterogeneous Sensors for Multi-Target Tracking
This paper addresses the challenge of assigning heterogeneous sensors (i.e., robots with varying sensing capabilities) for multi-target tracking. We classify robots into two categories: (1) sufficient sensing robots, equ…
A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements
Bearing-odometry-based cooperative localization has attracted increasing research interest due to its minimal infrastructure requirements, low communication bandwidth and broad applicability in complex environments. Howe…
Robot Pose EstimationAngle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} se…