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— This paper presents a new approach to the multi-robot map-alignment problem that enables teams of robots to build joint maps without initial knowledge of their relative poses. The key contribution of this work is an optimal algorithm for merging (not necessarily overlapping) maps that are created by different robots independently. Relative pose… (More)

—In this paper, we address the problem of determining the 2D relative pose of pairs of communicating robots from (i) robot-to-robot distance measurements and (ii) displacement estimates expressed in each robot's reference frame. Specifically, we prove that for nonsingular configurations the minimum number of distance measurements required for determining… (More)

This paper presents two new, efficient solutions to the two-view, relative pose problem from three image point correspondences and one common reference direction. This three-plus-one problem can be used either as a substitute for the classic five-point algorithm, using a vanishing point for the reference direction, or to make use of an inertial measurement… (More)

—In this paper, we present three fast, hybrid numeric-algebraic methods to solve polynomial systems in floating point representation, based on the eigendecomposition of a so-called multiplication matrix. In particular, these methods run using standard double precision, use only linear algebra packages, and are easy to implement. We provide the proof that… (More)

— In this paper we address the problem of determining the relative pose of pairs robots that move on a plane while measuring the distance to each other. We show that the minimum number of distance measurements required for the 3 degrees of freedom robot-to-robot transformation to become locally observable is 3. Furthermore, we prove that the maximum number… (More)

— In this paper, we address the problem of motion-induced 3D robot-to-robot extrinsic calibration based on different combinations of inter-robot measurements (i.e., distance and/or bearing observations) and ego-motion estimates, recorded across multiple time steps. In particular, we focus on solving minimal problems where the unknown 6-degree-of-freedom… (More)

—In this paper, we address the problem of motion-induced 3D robot-to-robot extrinsic calibration based on ego-motion estimates and combinations of inter-robot measurements (i.e., distance and/or bearing observations from either or both of the two robots, recorded across multiple time steps). In particular, we focus on solving minimal problems where the… (More)

— In this paper, we develop an algorithm for determining the relative position and attitude of two robots moving in 3D, using only dead-reckoning and inter-robot distance measurements. From the mechanical analogue of parallel ma-nipulators, it is known that this problem has 40 solutions when six distance measurements are available. These general solutions… (More)

—In this paper, we provide a study of motion-induced 3D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot (i) distance and bearing , (ii) bearing-only, and (iii) distance-only… (More)