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arXiv · 2310.08686

IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints

Mohammed Ayman Shalaby·Charles Champagne Cossette·Jerome Le Ny·James Richard Forbes
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Abstract

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.

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Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes. 2023-10-12. IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints. https://arxiv.org/abs/2310.08686

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