arXiv (OAI Expanded)
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CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or they degrade under pairwise non-line-of-sight conditions and outliers in complex environments. Robustly and efficiently f
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