A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter

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Given a sequence of functions

f_1,\ldots,f_n

with

f_i:\mathcal{D}\mapsto \mathbb{R}

, finite-sum minimization seeks a point

{x}^\star \in \mathcal{D}

minimizing

\sum_{j=1}^nf_j(x)/n

. In this work, we propose a key twist into the finite-sum minimizat ...

A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter

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