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cs.RO2026
Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1
This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the…
cs.RO2025
Enhanced UAV Navigation Systems through Sensor Fusion with Trident Quaternions
Sebastian Incicco, Juan Ignacio Giribet, Leonardo Colombo
This paper presents an integrated navigation algorithm based on trident quaternions, an extension of dual quaternions. The proposed methodology provides an efficient approach for a…