Cooperative Localization for Mobile Agents: A Recursive Decentralized Algorithm Based on Kalman-Filter Decoupling
From MaRDI portal
Publication:3384392
DOI10.1109/MCS.2015.2512033zbMATH Open1476.93123arXiv1505.05908OpenAlexW2212547592MaRDI QIDQ3384392FDOQ3384392
Authors: Solmaz S. Kia, Stephen Rounds, Sonia Martínez 
Publication date: 15 December 2021
Published in: IEEE Control Systems (Search for Journal in Brave)
Abstract: We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm declares the agent making this measurement as the interim master. By acquiring information from the interim landmark, the agent the relative measurement is taken from, the interim master can calculate and broadcast a set of intermediate variables which each robot can then use to update its estimates to match that of a centralized Extended Kalman Filter for cooperative localization. Once an update is done, no further communication is needed until the next relative measurement.
Full work available at URL: https://arxiv.org/abs/1505.05908
Filtering in stochastic control theory (93E11) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)
Cited In (1)
This page was built for publication: Cooperative Localization for Mobile Agents: A Recursive Decentralized Algorithm Based on Kalman-Filter Decoupling
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3384392)
