Related papers: Bearing-based Relative Localization for Robotic Sw…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Collaborative mapping of unknown environments can be done faster and more robustly than a single robot. However, a collaborative approach requires a distributed paradigm to be scalable and deal with communication issues. This work presents…
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's information…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…