Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these susceptible failures in both and observation steps. To enhance the resilience of cooperative a distributed system, we use covariance intersection formalize algorithm an explicit update ensure estimation consistency at same time. We investigate boundedness criterion our respect graphs, demonstrating provable performance under even sparse communications topologies. substantiate as well analysis through experiments on simulated benchmark physical data against varying connectivity failure metrics. Especially when entirely blocked or partially unavailable, demonstrate that method less affected maintains desired compared existing algorithms.