An Infrastructure-less, Control-Independent Solution to Relative Localisation of a Team of Mobile Robots using Ranging Measurements

Published June 19, 2026 · Category: Robotics

Overview

arXiv:2606.20365v1 Announce Type: new Abstract: The ability to localise teams of robots is essential for applications ranging from robotic fleets in unstructured environments to cooperative control and navigation tasks. In such contexts, fixed infrastructure is often unavailable, deployments must be fast and flexible, and system requirements must be minimal. We present a decentralised cooperative localisation algorithm that addresses all these challenges at once. The method is anchor-less, fully decentralised, and, unlike most existing approaches, does not require controlling the robots motion to ensure team observability. It relies only on local odometry, sparse inter-agent ranging measurements, and short-range communication, all of which are widely available in practice. The algorithm adopts a multi-hypothesis Bayesian framework that maintains the entire set of feasible solutions, ensuring robustness under transient unobservable conditions. Moreover, through information sharing, each agent benefits from the estimates of the entire group, even in partially connected conditions.

Source

Originally published at arxiv.org.

Related Articles

• pdSTL: Probabilistic Differentiable Signal Temporal Logic for Stochastic Systems
• Fail-RAG : A Retrieval Augmented Generation Informed Framework for Robot Failure Identification
• CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion