A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems

DOI10.1016/J.AUTOMATICA.2024.111654zbMATH Open1537.93066MaRDI QIDQ6550249FDOQ6550249

Authors: Heng Wang, Xinyu Zhao, Shoudong Huang, Qing Li, Yiyang Liu 

Publication date: 5 June 2024

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

branch-and-boundmulti-robot systemsglobally optimal solutionrelative pose estimation

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Multi-agent systems (93A16)

Cites Work

• Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions
• Branching and bounds tighteningtechniques for non-convex MINLP
• Distributed localization with mixed measurements under switching topologies
• Comparison of two different objective functions in 2D point feature SLAM
• Dimensionality reduction for point feature SLAM problems with spherical covariance matrices
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
• Exploiting submodularity to quantify near-optimality in multi-agent coverage problems
• Bearing-only distributed localization: a unified barycentric approach
• Pose localization of leader-follower networks with direction measurements
• Incremental Distributed Inference from Arbitrary Poses and Unknown Data Association: Using Collaborating Robots to Establish a Common Reference

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