3-D relative localization for multi-robot systems with angle and self-displacement measurements

Chenyang Liang, Liangming Chen, Baoyi Cui, Jie Mei, School of Intelligence Science and Engineering, and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Harbin Institute of Technology, School of Automation and Intelligent Manufacturing, and Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, Southern University of Science and Technology

The International Journal of Robotics Research

Published online on September 24, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 4, Page 552-582, April 2026.
Inter-robot relative localization (including positions and orientations) is necessary for multi-robot systems to execute collaborative tasks. Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially ...