5 papers · 1 filter
Distributed and Consistent Multi-Robot Visual-Inertial-Ranging Odometry on Lie Groups
Ziwei Kang, Yizhi Zhou
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate mo…
Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction
Yizhi Zhou, Jie Xu, Jiawei Xia +3
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning…
CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups
Yizhi Zhou, Ziwei Kang, Jiawei Xia +1
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO syste…
Distributed Invariant Kalman Filter for Cooperative Localization using Matrix Lie Groups
Yizhi Zhou, Yufan Liu, Pengxiang Zhu +1
This paper studies the problem of Cooperative Localization (CL) for multi-robot systems, where a group of mobile robots jointly localize themselves by using measurements from onboa…
Distributed Differentiable Dynamic Game for Multi-robot Coordination
Yizhi Zhou, Wanxin Jin, Xuan Wang
This paper develops a Distributed Differentiable Dynamic Game (D3G) framework, which can efficiently solve the forward and inverse problems in multi-robot coordination. We formulat…