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This paper proposes the cooperative use of zero velocity update (ZU) in adecentralized extended Kalman filter (DEKF) based localization algorithm formulti-robot systems. The filter utilizes inertial measurement unit (IMU),ultra-wideband (UWB), and odometry velocity measurements to improve thelocalization performance of the system in the presence of a GNSS-deniedenvironment. The contribution of this work is to evaluate the benefits of usingZU in a DEKF-based localization algorithm. The algorithm is tested with realhardware in a video motion capture facility and a Robot Operating System (ROS)based simulation environment for unmanned ground vehicles (UGV). Bothsimulation and real-world experiments are performed to show the effectivenessof using ZU in one robot to reinstate the localization of other robots in amulti-robot system. Experimental results from GNSS-denied simulation andreal-world environments show that using ZU with simple heuristics in the DEKFsignificantly improves the 3D localization accuracy.

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Evaluation of the Benefits of Zero Velocity Update in Decentralized  EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot  Systems