D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

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[Submitted on 9 Jul 2026]

Title:D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

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Abstract:Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and control. Centralized filtering approaches optimally fuse all available sensor measurements of the team. However, a centralized solution is rarely implementable due to hardware, communication, and computational constraints. Distributed approaches deploy a filter on each robot to estimate their own state and neighbours' states using inter-robot communication. This paper proposes a consistent, communication-efficient, and consensus-based distributed filtering framework that shares both preintegrated odometry and relevant shared states among communicating robots. The proposed method is validated in simulated and experimental scenarios, showing near centralized performance in accuracy, and especially in consistency, compared to the current state-of-the-art decentralized approach.

Comments: 8 pages, 7 figures, 1 table. Submitted to IEEE Robotics and Automation Letters

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2607.07995 [cs.RO]

(or arXiv:2607.07995v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.07995

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Kyle Biron-Gricken [view email] [v1] Thu, 9 Jul 2026 00:00:09 UTC (9,072 KB)

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