Robot 1 and Robot 0: Analysis of the Performance of a Relative Update in a Real-World Experiment
| Robot 1 Initial Error: 36.05m | Robot 0 Initial Error: 14.14 | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| w/o ZU in Robot 2 | w/ ZU Robot 2 | w/o ZU in Robot 2 | w/ ZU in Robot 2 | ||||||
| Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | ||
| Horizontal Error | T1 | 33.29 | 92.32 % | 35.85 | 99.42 % | 11.12 | 78.64 % | 13.70 | 96.88 % |
| T2 | 33.23 | 92.16 % | 32.79 | 90.94 % | 11.73 | 82.94 % | 10.66 | 75.40 % | |
| T3 | 29.88 | 82.87 % | 32.72 | 90.76 % | 7.10 | 50.23 % | 11.06 | 78.20 % | |
| T4 | 21.90 | 60.73 % | 31.70 | 87.91 % | 10.33 | 73.08 % | 10.33 | 73.04 % | |
| T5 | 30.05 | 83.33 % | 33.35 | 92.49 % | 7.80 | 55.18 % | 9.97 | 70.49 % | |
| T6 | 32.11 | 89.07 % | 33.16 | 91.96 % | 9.14 | 64.67 % | 10.36 | 73.24 % | |
| T7 | 33.55 | 93.05 % | 32.97 | 91.43 % | 11.56 | 81.76 % | 10.28 | 72.69 % | |
| T8 | 32.66 | 90.58 % | 34.14 | 94.70 % | 9.88 | 69.87 % | 11.42 | 80.75 % | |
| T9 | 30.46 | 84.49 % | 33.67 | 93.38 % | 6.93 | 49.02 % | 10.79 | 76.33 % | |
| T10 | 31.69 | 87.88 % | 34.12 | 94.63 % | 7.90 | 55.84 % | 12.97 | 91.69 % | |