{"paper":{"title":"Multi-agent Localization of A Common Reference Coordinate Frame: An Extrinsic Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Hyo-Sung Ahn, Quoc Van Tran","submitted_at":"2019-05-10T03:44:37Z","abstract_excerpt":"This paper studies the problem of multi-agent cooperative localization of a common reference coordinate frame in $\\mathbb{R}^3$. Each agent in a system maintains a body-fixed coordinate frame and its actual \\textit{frame transformation} (translation and rotation) from the global coordinate system is unknown. The mobile agents aim to determine their \\textit{trajectories of rigid-body motions} (or the frame transformations, i.e., rotations and translations) with respect to the global coordinate frame up to a common frame transformation by using local measurements and information exchanged with n"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.03924","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}