A Robust Distributed Odometry for Mobile Robots with Steerable Wheels
Wang Xi, Jiaming Guo, Chenyang Wang, Shukun Wu, Jianping He
Abstract
Odometry estimation remains a critical challenge for wheeled robots, as reducing its drift directly mitigates dependency on external localization systems. This paper proposes a distributed odometry framework for steerable wheels, named ICF-DO, which is applicable to both Steerable Wheeled Mobile Robots (SWMRs) and cooperative multi-single-wheel robot systems. The proposed method features low computational complexity and reduced drift, while demonstrating strong robustness in communication-restricted scenarios. Additionally, singularity can be processed in a distributed manner in the proposed framework. Experimental validation on a real physical SWMR platform demonstrates the effectiveness and practicality of the proposed method.
BibTeX
@inproceedings{iros2025_arobustdistribut,
title = {A Robust Distributed Odometry for Mobile Robots with Steerable Wheels},
author = {Wang Xi and Jiaming Guo and Chenyang Wang and Shukun Wu and Jianping He},
booktitle = {IROS 2025},
year = {2025}
}