This paper introduces a generalized framework, termed “stochastic cloning,” for processing relative state measurements within a Kalman filter estimator. The main motivation and application for this methodology is the problem of fusing displacement measurements with position estimates for mobile robot localization. Previous approaches have ignored the developed interdependencies (cross-correlati...

In cooperative localization a group of robots exchange relative position measurements from their exteroceptive sensors and their motion information from interoceptive sensors to collectively estimate their position and heading. For the localization errors to be bounded, it is required that the system be observable, independent of the estimation technique being used. In this paper, we develop a ...

In this paper, we present a method for estimating the relative localization for a set of points from information indicative of pairwise distance. While other methods for localization have been proposed, we propose an alternative that is simple to implement and easily extendable for different datasets of varied dimensionality. This method utilizes the Kernel PCA framework [6] (or equivantly the ...

in this paper, a higher order continuum model is presented based on the cosserat continuum theory in 3d numerical simulation of shear band localization. as the classical continuum models suffer from the pathological mesh-dependence in strain softening models, the governing equations are regularized by adding the rotational degrees-of-freedom to conventional degrees-of-freedom. the fundamental r...

The trajectory planning and control of multi-agent systems requires accurate localization, which may not be possible when GPS signals fixed features required for SLAM are available. Cooperative Localization (CL) in offers a short-term solution that significantly improve vehicle pose estimation. CL algorithms have been mainly developed assessed planar mobile robot networks due to complexities si...

We extend to bimodules Schelter’s localization of a ring with respect to Gabriel filters of left and right ideals. Our two-sided localization of bimodules provides an endofunctor on a convenient bicategory of rings with filters of ideals. This is used to study the Picard group of a ring relative to a filter of ideals.