A closed-form 4-DoF inter-robot pose estimator is proposed using bearing-only measurements, with observability analysis showing it requires less stringent motion excitation than 6-DoF methods and an autonomous test module for optimal estimation timing.
Certifiable mutual localization and trajectory planning for bearing-based robot swarm,
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A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements
A closed-form 4-DoF inter-robot pose estimator is proposed using bearing-only measurements, with observability analysis showing it requires less stringent motion excitation than 6-DoF methods and an autonomous test module for optimal estimation timing.