{"ID":3004659,"CreatedAt":"2026-06-03T03:09:48.883664427Z","UpdatedAt":"2026-06-05T11:43:53.432517148Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.03931","arxiv_id":"2606.03931","title":"Multi-Robot Bearing-only Pose Estimation via Angle Rigidity","abstract":"This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the robots' positions in $\\mathbb{R}^3$ without knowledge of their orientations. The orientations in $\\mathrm{SO}(3)$ are recovered from the estimated positions, the bearings, and the bearing derivatives. The proposed observer only requires the (directed) sensing topology to be \\textit{angle-rigid}, a weaker condition than the commonly used ones like bearing rigidity. Local uniform exponential stability of the proposed observer is established under the assumption of persistently exciting motions for a subset of robots. Simulations are presented and discussed to evaluate the scheme's effectiveness and practicality.","short_abstract":"This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the robots' positions in $\\mathbb{R}^3$ without knowledge of their orientations. The orientations in $\\mathrm{SO}(3)$ are recovered from the es...","url_abs":"https://arxiv.org/abs/2606.03931","url_pdf":"https://arxiv.org/pdf/2606.03931v1","authors":"[\"J. Francisco Presenza\",\"Leonardo J. Colombo\",\"Ignacio Mas\",\"Juan I. Giribet\"]","published":"2026-06-02T17:22:48Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}