Nonlinear moving horizon state estimation for multi-robot relative localization
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a novel approach for a multi-robot system's relative localization (RL), where one or more robots are located and tracked with respect to another robot frame of reference. With a known initial estimate of a robot being tracked, the extended Kalman filter (EKF) has been shown to perform adequately well to achieve the RL. However, with an arbitrary initial estimate, EKF performance may become unstable and/or require a high number of iterations to achieve an acceptable tracking error. In this paper, moving horizon estimation (MHE) has been adopted to achieve the RL objective. Although MHE has been highlighted in the literature to be computationally intractable, in this work, an efficient algorithm based on Real Time Iteration (RTI) scheme has been exported using an automatic C code generation toolkit. The exported code is adapted for the RL problem and requires computational capacity of the order ones of milliseconds. The MHE performance is compared against the EKF in numerical simulations. Under arbitrary estimator initialization, the results confirms that MHE over performs EKF in terms of the number of iterations required for convergence while satisfying the real-time requirements.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it