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Relative localization between autonomous robots without infrastructure iscrucial to achieve their navigation, path planning, and formation in manyapplications, such as emergency response, where acquiring a prior knowledge ofthe environment is not possible. The traditional Ultra-WideBand (UWB)-basedapproach provides a good estimation of the distance between the robots, butobtaining the relative pose (including the displacement and orientation)remains challenging. We propose an approach to estimate the relative posebetween a group of robots by equipping each robot with multiple UWB rangingnodes. We determine the pose between two robots by minimizing the residualerror of the ranging measurements from all UWB nodes. To improve thelocalization accuracy, we propose to utilize the odometry constraints through asliding window-based optimization. The optimized pose is then fused with theodometry in a particle filtering for pose tracking among a group of mobilerobots. We have conducted extensive experiments to validate the effectivenessof the proposed approach.

Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements