CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
Shipeng Zhong,Hongbo Chen,Yuhua Qi,Dapeng Feng,Zhiqiang Chen,Jin Wu,Weisong Wen,Ming Liu,Shipeng Zhong,Hongbo Chen,Yuhua Qi,Dapeng Feng,Zhiqiang Chen,Jin Wu,Weisong Wen,Ming Liu
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized system to facilitate collaborative LiDAR-ranging-inertial state estimation, enabling robotic swarms to operate without the need for anchor deployment. The system...