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Certifiable Mutual Localization and Trajectory Planning for Bearing-Based Robot Swarm
Yingjian Wang, Xiangyong Wen, Fei Gao
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite the…
Simultaneous Time Synchronization and Mutual Localization for Multi-robot System
Xiangyong Wen, Yingjian Wang, Xi Zheng +3
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually und…
Bearing-based Relative Localization for Robotic Swarm with Partially Mutual Observations
Yingjian Wang, Xiangyong Wen, Yanjun Cao +2
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solver…
Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
Yingjian Wang, Xiangyong Wen, Longji Yin +3
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between mea…