{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T05:43:20Z","timestamp":1740980600672,"version":"3.38.0"},"reference-count":38,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2024,4,3]],"date-time":"2024-04-03T00:00:00Z","timestamp":1712102400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003151","name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003151","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2024,9]]},"abstract":" This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other\u2019s position relative to themselves. The use of pseudomeasurements is introduced as a means of modeling such relationships between robots\u2019 state estimates and is shown to be a tractable way to approach the decentralized state estimation problem. Moreover, this formulation easily leads to a general-purpose observability test that simultaneously accounts for measurements that robots collect from their own sensors, as well as the communication structure within the team. Finally, input preintegration is proposed as a communication-efficient way of sharing odometry information between robots, and the entire theory is appropriate for both vector-space and Lie-group state definitions. To overcome the need for communicating preintegrated covariance information, a deep autoencoder is proposed that reconstructs the covariance information from the inputs, hence further reducing the communication requirements. The proposed framework is evaluated on three different simulated problems, and one experiment involving three quadcopters. <\/jats:p>","DOI":"10.1177\/02783649241230993","type":"journal-article","created":{"date-parts":[[2024,4,4]],"date-time":"2024-04-04T01:25:00Z","timestamp":1712193900000},"page":"1573-1593","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Decentralized state estimation: An approach using pseudomeasurements and preintegration"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9380-8361","authenticated-orcid":false,"given":"Charles Champagne","family":"Cossette","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, McGill University, Montreal, QC, Canada"}]},{"given":"Mohammed Ayman","family":"Shalaby","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, McGill University, Montreal, QC, Canada"}]},{"given":"David","family":"Saussi\u00e9","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Polytechnique Montr\u00e9al, Montreal, QC, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1987-9268","authenticated-orcid":false,"given":"James Richard","family":"Forbes","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, McGill University, Montreal, QC, Canada"}]}],"member":"179","published-online":{"date-parts":[[2024,4,3]]},"reference":[{"key":"bibr1-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967886"},{"key":"bibr2-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982117"},{"key":"bibr3-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2001.945670"},{"key":"bibr4-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"bibr5-02783649241230993","volume-title":"State Estimation for Robotics","author":"Barfoot TD","year":"2023","edition":"2"},{"key":"bibr6-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2298059"},{"key":"bibr7-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2019.05.005"},{"key":"bibr8-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2357135"},{"key":"bibr9-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1007\/s10851-015-0622-8"},{"key":"bibr10-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3100156"},{"key":"bibr11-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696534"},{"key":"bibr12-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919835021"},{"key":"bibr13-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"bibr14-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1016\/0967-0661(94)90349-2"},{"key":"bibr15-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9207-y"},{"key":"bibr16-02783649241230993","first-page":"269","volume-title":"Multisensor Data Fusion","author":"Julier S","year":"2001"},{"key":"bibr17-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1997.609105"},{"key":"bibr18-02783649241230993","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197178"},{"key":"bibr19-02783649241230993","unstructured":"Lajoie PY, Beltrame G (2023) Swarm-SLAM: sparse decentralized collaborative simultaneous localization and mapping framework for multi-robot systems. 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