IROS Conference 2025 Conference Paper
A Robust Distributed Odometry for Mobile Robots with Steerable Wheels
- Wang Xi
- Jiaming Guo
- Chenyang Wang
- Shukun Wu
- Jianping He 0001
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.