Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
A centralized-equivalent decentralized implementation of extended Kalman filters for cooperative localization
Solmaz S. Kia, Stephen Rounds, and Sonia MartÃnez
Proceedings of the 2014 IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 2014
Abstract:
We present a novel decentralized cooperative localization algorithm for mobile robots. The proposed algorithm is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each robot 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 robot making this measurement as the "interim master". By acquiring information from the "interim landmark", the robot 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. The communication graph can be a time-varying directed graph with the only requirement that it should have a spanning tree rooted at the interim~master.
File: main.pdf
Bib-tex entry:
@InProceedings{SSK-SR-SM:14-iros},
author = {S. S. Kia and S. Rounds and
S. Mart{\'\i}nez},
booktitle = {IEEE/RSJ Int. Conference on Intelligent Robots and
Systems},
title = {A centralized-equivalent
decentralized implementation of extended {K}alman filters for
cooperative localization},
month = {September},
year = {2014},
address ={Chicago, IL},
pages= {3761--3765}
}