Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems
Joint Authors
Mann, George K. I.
Wanasinghe, Thumeera R.
Gosine, Raymond G.
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-19
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization.
In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame.
When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief.
The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS).
The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks.
The pose estimation error of the proposed method is bounded.
As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations.
The performance of the proposed method is compared with several multirobot localization approaches.
The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.
American Psychological Association (APA)
Wanasinghe, Thumeera R.& Mann, George K. I.& Gosine, Raymond G.. 2016. Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems. Journal of Robotics،Vol. 2016, no. 2016, pp.1-18.
https://search.emarefa.net/detail/BIM-1110273
Modern Language Association (MLA)
Wanasinghe, Thumeera R.…[et al.]. Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems. Journal of Robotics No. 2016 (2016), pp.1-18.
https://search.emarefa.net/detail/BIM-1110273
American Medical Association (AMA)
Wanasinghe, Thumeera R.& Mann, George K. I.& Gosine, Raymond G.. Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-18.
https://search.emarefa.net/detail/BIM-1110273
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110273