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An increasing number of robotic systems feature multiple inertial measurement units (IMUs). Due to competing objectives-either desired vicinity to the center of gravity when used in controls, or an unobstructed field of view when integrated in a sensor setup with an exteroceptive sensor for ego-motion estimation-individual IMUs are often mounted at considerable distance. As a result, they sense different accelerations when the platform is subjected to rotational motions. In this work, we derivedoi:10.1109/icra.2016.7487628 dblp:conf/icra/RehderNSHS16 fatcat:5p2qdxg4jvaf7ajri2uxxxb5um