Angle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks

arXiv:2604.11754v1 Announce Type: cross Abstract: In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks under sensing constraints. We establish the first equivalence between angle rigidity and bearing rigidity considering extit{directed} sensing graphs and extit{body-frame} bearing measurements in both 2 and 3-extit{dimensional space}. In particular, we demonstrate that a framework in SE(d) is infinitesimally bearing rigid if and only if it is infinitesimally angle rigid and each robot obtains at least d-1 bearing measurements (d in {2, 3}). Building on these findings, this paper proposes a distributed angle-based localization scheme and establishes local exponential stability under switching sensing graphs, requiring only infinitesimal angle rigidity across the visited topologies. Then, since angle rigidity strongly depends on the robots' spatial configuration, we investigate rigidity maintenance control. The extit{angle rigidity eigenvalue} is presented as a metric for the degree of rigidity. A decentralized gradient-based controller capable of executing mission-specific commands while maintaining a sufficient level of angle rigidity is proposed. Simulations were conducted to evaluate the scheme's effectiveness and practicality.

Related

• Dynamic Multi-Robot Task Allocation under Uncertainty and Communication Constraints: A Game-Theoretic Approach
• Optimal Kinodynamic Motion Planning Through Anytime Bidirectional Heuristic Search with Tight Termination Condition
• 3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
• Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements

Source: arXiv cs.RO | 2026-04-14