Multi-Robot Bearing-only
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Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
arXiv:2606.03931v1 Announce Type: new Abstract: 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.