Distributed Relative Localization Based on Ultra-WideBand and LiDAR for Multi-robot with Limited Communication
The system estimates relative positions for robots using Ultra-Wideband (UWB) ranging and LiDAR data, even when communication is limited or GPS is unavailable. It works by comparing UWB connection graphs and LiDAR connection graphs using a subgraph matching technique to find robot identities, then localizing robots based on well-matched peers.