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Research questionHow can multi-robot teams estimate 3D positions and orientations from body-frame bearings without knowing orientations?Body-frame bearings provide relative geometric information but are expressed in unknown local coordinate frames, making simultaneous position and orientation recovery difficult. The sensing structure and robots’ motions determine whether the pose is observable and estimable.
Multi-agent Systems
Robotics
Latest papersRecent research connected to this question, newest first.Multi-Robot Bearing-based Pose Estimation via Angle RigidityThe source studies a distributed observer on SE(3) for directed sensing topologies. Positions are estimated from angles computed from body-frame bearings, while orientations are recovered using the estimated positions, bearings, and bearing-rate measurements. The analysis assumes infinitesimal angle rigidity and persistently exciting motions from a subset of robots, and establishes local uniform exponential stability with numerical support.research paper · Sep 3, 2026
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