  Range-only (RO) localization involves determining the position of a mobile
robot by measuring the distance to specific anchors. RO localization is
challenging since the measurements are low-dimensional and a single range
sensor does not have enough information to estimate the full pose of the robot.
As such, range sensors are typically coupled with other sensing modalities such
as wheel encoders or inertial measurement units (IMUs) to estimate the full
pose. In this work, we propose a continuous-time Gaussian process (GP)- based
trajectory estimation method to estimate the full pose of a robot using only
range measurements from multiple range sensors. Results from simulation and
real experiments show that our proposed method, using off-the-shelf range
sensors, is able to achieve comparable performance and in some cases outperform
alternative state-of-the-art sensor-fusion methods that use additional sensing
modalities.
