MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation With Constrained Communications in 3D Environments

摘要

Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with additional <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">continuously</i> transmitted data (e.g., odometry) leading to potential scaling issues with increased team size and/or decreased communication network capability. By equipping each agent with multiple UWB antennas, our approach addresses these concerns by using only <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">locally</i> collected UWB range measurements, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> state constraints, and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">event-based</i> detections of when said constraints are violated. The addition of our learned mean ranging bias correction improves our approach by an additional 19% positional error, and gives us an overall experimental mean absolute position and heading errors of 0.24 m and 9.5<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\bm {^\circ }$</tex-math></inline-formula> respectively. When compared to other state-of-the-art approaches, our work demonstrates improved performance over similar systems, while remaining competitive with methods that have significantly higher communication costs.