Bearing-Based Distributed Pose Estimation for Multi-Agent Networks

In this letter, we address the distributed pose estimation problem for multi-agent systems under a directed graph topology, where two agents have access to their respective poses, and the other agents have unknown static positions and time-varying orientations. The proposed estimation scheme consists of two cascaded distributed observers, an almost globally asymptotically stable (AGAS) attitude observer and an input-to-state stable (ISS) position observer, leading to an overall AGAS distributed localization scheme. Numerical simulation results are presented to illustrate the performance of our proposed distributed pose estimation scheme.