IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Robotics
2023-10-17 v2
Abstract
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated into the framework presented in [1], while maintaining the differential Sylvester equation form of the process model.
Keywords
Cite
@article{arxiv.2310.08686,
title = {IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints},
author = {Mohammed Ayman Shalaby and Charles Champagne Cossette and Jerome Le Ny and James Richard Forbes},
journal= {arXiv preprint arXiv:2310.08686},
year = {2023}
}