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Ultra-wideband (UWB) systems are becoming increasingly popular as a means ofinter-robot ranging and communication. A major constraint associated with UWBis that only one pair of UWB transceivers can range at a time to avoidinterference, hence hindering the scalability of UWB-based localization. Inthis paper, a ranging protocol is proposed that allows all robots to passivelylisten on neighbouring communicating robots without any hierarchicalrestrictions on the role of the robots. This is utilized to allow each robot toobtain more range measurements and to broadcast preintegrated inertialmeasurement unit (IMU) measurements for relative extended pose state estimationdirectly on SE_2(3). Consequently, a simultaneous clock-synchronization andrelative-pose estimator (CSRPE) is formulated using an on-manifold extendedKalman filter (EKF) and is evaluated in simulation using Monte-Carlo runs forup to 7 robots. The ranging protocol is implemented in C on custom-made UWBboards fitted to 3 quadcopters, and the proposed filter is evaluated overmultiple experimental trials, yielding up to 56% improvement in localizationaccuracy.

Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers