无需朝向信息，仅靠视角角实现多机器人三维定位
Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
- 用机体坐标系视角角估计机器人位置，无需已知朝向
- 在持续运动下实现局部指数稳定，支持动态系统
- 只需角度刚性拓扑，比传统方法要求更宽松
本文提出一种新型分布式视角角式位姿估计算法，适用于时变多机器人系统。该方法利用机体坐标系下的视角角，在不依赖机器人朝向信息的情况下，估计其在 $/mathbb{R}^3$ 空间中的位置。通过估计的位置、视角角及视角变化率，恢复 $ ext{SO}(3)$ 中的朝向。所提观测器仅需感知拓扑满足 extit{角度刚性}，该条件弱于常见的视角刚性。在部分机器人持续激励运动的假设下，建立了观测器的局部一致指数稳定性。通过仿真验证了该方案的有效性与实用性。
原文摘要 · Abstract (English)
This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the robots' positions in $\mathbb{R}^3$ without knowledge of their orientations. The orientations in $\mathrm{SO}(3)$ are recovered from the estimated positions, the bearings, and the bearing derivatives. The proposed observer only requires the (directed) sensing topology to be \textit{angle-rigid}, a weaker condition than the commonly used ones like bearing rigidity. Local uniform exponential stability of the proposed observer is established under the assumption of persistently exciting motions for a subset of robots. Simulations are presented and discussed to evaluate the scheme's effectiveness and practicality.
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