https://evlachos.space/tags/aoa/AoAHugo Blox Builder (https://hugoblox.com)enMon, 11 May 2026 00:00:00 +0000https://evlachos.space/media/icon_hu_2beab1606e98fa9.pnghttps://evlachos.space/tags/aoa/https://evlachos.space/publication/venetis-consistency-2026/Mon, 11 May 2026 00:00:00 +0000https://evlachos.space/publication/venetis-consistency-2026/<h2 id="key-contributions">Key Contributions</h2> <ul> <li><strong>Consistency-gated framework</strong>: A cooperative localization scheme that actively prevents harmful cooperative updates when inter-agent measurements are inconsistent under intermittent GPS.</li> <li><strong>Two-stage estimation</strong>: Decoupled architecture separating local observability recovery (EKF with GPS/IMU) from cooperative refinement (distributed ADMM over UWB range and AoA constraints).</li> <li><strong>Lightweight acceptance gate</strong>: A learning-based gate driven solely by runtime residual and consensus indicators — no ground truth required online.</li> <li><strong>Quantitative gains</strong>: Demonstrated moderate improvements in absolute accuracy and substantial gains in formation-relevant relative accuracy over GPS/IMU baselines.</li> </ul>