arxivcs.RO2026-07-09
D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange
Kyle Biron-Gricken, James Richard Forbes
Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and control. Centralized filtering approaches optimally fuse all available sensor measurements of the team. However, a centralized solution is rarely implementable due to…