Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version)

[2411.05481] Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version) Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2411.05481 (cs) [Submitted on 8 Nov 2024 ( v1 ), last revised 14 Apr 2026 (this version, v5)] Title: Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version) Authors: Kunrui Ze , Wei Wang , Shuoyu Yue , Guibin Sun , Kexin Liu , Jinhu Lü View a PDF of the paper titled Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version), by Kunrui Ze and 5 other authors View PDF HTML (experimental) Abstract: This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental limitation of most works is that they require each robot's pose and sensor measurements are expressed in a common reference frame. However, it is inapplicable for nonholonomic robot formations due to the practical difficulty of aligning IO measurements of individual robot in a common frame. To address this problem, firstly, a concurrent-learning based estimator is firstly proposed to achieve relative localization between neighboring robots in a local frame. Different from most relative localization methods in a global frame, both relative position and orientation in a local frame are estimated with only UWB ranging and IO measurements. Secondly, to deal with information loss caused by directed communication topology, a cooperative localization algorithm is introduced to estimate the relative pose to the leader robot. Thirdly, based on the theoretical results on relative pose estimation, a distributed formation tracking controller is proposed for nonholonomic robots. Both 3D and 2D real-world experiments conducted on aerial robots and grounded robots are provided to demonstrate the effectiveness of the proposed method. Comments: 17 pages, 26 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2411.05481 [cs.RO] (or arXiv:2411.05481v5 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2411.05481 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Kunrui Ze [ view email ] [v1] Fri, 8 Nov 2024 11:19:45 UTC (15,641 KB) [v2] Thu, 10 Jul 2025 17:35:28 UTC (16,636 KB) [v3] Fri, 11 Jul 2025 08:45:47 UTC (16,637 KB) [v4] Thu, 20 Nov 2025 07:14:03 UTC (8,523 KB) [v5] Tue, 14 Apr 2026 06:18:59 UTC (8,523 KB) Full-text links: Access Paper: View a PDF of the paper titled Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version), by Kunrui Ze and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2024-11 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... 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