KD-EKF: A Kalman Decomposition Based Extended Kalman Filter for Multi-Robot Cooperative Localization. - Ning Hao; Fenghua He 001; Chungeng Tian; Yu Yao 004; Shaoshuai Mou (CoRR, 2022)

Nonlinear observability analysis of multi-robot cooperative localization. - Ning Hao; Fenghua He 001; Chen Xie; Chungeng Tian; Yu Yao 004 (Syst. Control. Lett., 2022)

KD-EKF: A Consistent Cooperative Localization Estimator Based on Kalman Decomposition. - Ning Hao; Fenghua He 001; Chungeng Tian; Yu Yao 004; Weilong Xia (IROS, 2023)

Distributed Consistent Multi-robot Cooperative Localization: A Coordinate Transformation Approach. - Chungeng Tian; Ning Hao; Fenghua He 001; Haodi Yao (CoRR, 2023)

Consistent Distributed Cooperative Localization: A Coordinate Transformation Approach. - Chungeng Tian; Ning Hao; Fenghua He 001; Haodi Yao (IROS, 2024)

On the Consistency of Multi-Robot Cooperative Localization: A Transformation-Based Approach. - Ning Hao; Fenghua He 001; Chungeng Tian; Yi Hou (IEEE Robotics Autom. Lett., 2025)

A Transformation-based Consistent Estimation Framework: Analysis, Design and Applications. - Ning Hao; Chungeng Tian; Fenghua He 001 (CoRR, 2025)

T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation. - Chungeng Tian; Ning Hao; Fenghua He 001 (IEEE Robotics Autom. Lett., 2025)