arXiv:2310.08686
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
著者: Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
分類: cs.RO
原文アブストラクト
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated into the framework presented in [1], while maintaining the differential Sylvester equation form of the process model.