Multi-Agent Relative Pose Estimation with UWB and Constrained Communications
Andrew Fishberg,Jonathan P. How,Andrew Fishberg,Jonathan P. How
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with addit...
