Distributed Relative Localization for Homogeneous Multi-Robot Systems through UWB Ranging and Limited Communications
The system proposes a fully distributed method for robots to accurately determine their relative positions using LiDAR, UWB ranging, and odometry data without needing external infrastructure. It achieves this by using five core modules that fuse these measurements to identify teammates and track them continuously. This allows robots to cooperate reliably in exploration or search missions despite limited communication.