Distributed collaborative 3D pose estimation of robots from heterogeneous relative measurements: an optimization on manifold approach

@article{Knuth2015DistributedC3,
  title={Distributed collaborative 3D pose estimation of robots from heterogeneous relative measurements: an optimization on manifold approach},
  author={Joseph Knuth and Prabir Barooah},
  journal={Robotica},
  year={2015},
  volume={33},
  pages={1507-1535}
}
We propose a distributed algorithm for estimating the 3-D pose (position and orientation) of multiple robots with respect to a common frame of reference when GPS is not available. This algorithm does not rely on the use of any maps, or the ability to recognize landmarks in the environment. Instead we assume that noisy relative measurements between pairs of robots are intermittently available, which can be any one, or combination, of the following: relative pose, relative orientation, relative… CONTINUE READING