PDF-Fig.1:DistributionofthetransformationTr1r2forallmulti-robotcandidateco
2 uri1i hxri1xri 22withbeingthemeasurementnoisecovarianceandhthemeasurementmodelthatinthecaseofrelativeposeobservationsandrobotposesexpressedinthesamereferenceframeishxri1xrixri
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