  Inter-agent relative localization is critical for any multi-robot system
operating in the absence of external positioning infrastructure or prior
environmental knowledge. We propose a novel inter-agent relative 2D pose
estimation system where each participating agent is equipped with several
ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB
range measurements with additional continuously transmitted data, such as
odometry, making these approaches scale poorly with increased swarm size or
decreased communication throughput. This approach addresses these concerns by
using only locally collected UWB measurements with no additionally transmitted
data. By modeling observed ranging biases and systematic antenna obstructions
in our proposed optimization solution, our experimental results demonstrate an
improved mean position error (while remaining competitive in other metrics)
over a similar state-of-the-art approach that additionally relies on
continuously transmitted odometry.
