Multi-robot localization is done with an EKF on matrix Lie groups using new stochastic composition, averaging, and fusion operations plus Mahalanobis rejection of faulty ArUco pseudo-pose measurements.
An enhanced positioning technique for underground pipeline robot based on inertial sensor/wheel odometer,
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Fault-Tolerant Multi-Modal Localization of Multi-Robots on Matrix Lie Groups
Multi-robot localization is done with an EKF on matrix Lie groups using new stochastic composition, averaging, and fusion operations plus Mahalanobis rejection of faulty ArUco pseudo-pose measurements.