Paper ID: 2310.08686

IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints

Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes

This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated into the framework presented in [1], while maintaining the differential Sylvester equation form of the process model.

Submitted: Oct 12, 2023