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Kyle Biron-Gricken

kyle.biron-gricken@mila.quebec
PhD - McGill University
Supervisor
James Richard Forbes
Research Topics
Autonomous Robotics Navigation

Publications

D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange
Kyle Biron-Gricken
James Richard Forbes
Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and control. Centralized filter… (see more)ing 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.
2026-07-08
arXiv (preprint)
doi.org
arxiv.org