Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Event-based cooperative localization using implicit and explicit measurements
Michael Ouimet, Nisar Ahmed, and Sonia MartÃnez
Proceedings of the IEEE 2015 Int. Conference on Multisensor Fusion and Integration for Intelligent Systems, San Diego, CA, USA, September 2015
Abstract:
This paper describes a novel cooperative localization algorithm for a team of robotic agents to estimate the state of the network via local communications. Exploiting an event-based paradigm, agents only send measurements to their neighbors when the expected benefit to employ this information is high. Because agents know the event-triggering condition for measurements to be sent, the lack of a measurement is also informative and fused into state estimates. For the case where agents do not receive direct measurements of all others and keep a local-covariance error metric bounded, the agents employ a Covariance Intersection fusion rule. In communication networks with large diameters, it may not be the case that triggering fusion updates when the error metric passes a threshold results into a posterior metric satisfying the desired bound. Thus, we define balancing dynamics on the robots' triggering thresholds that result into more central agents updating more often to aid the less connected ones. Simulations illustrate the effectiveness of this approach.
File: main.pdf
Bib-tex entry:
@InProceedings{MO-NRA-SM:15-mfi},
author = {M. Ouimet and N. Ahmed and S. Mart{\'\i}nez},
booktitle = {IEEE 2015 Int. Conference on Multisensor Fusion and
Integration for Intelligent Systems},
title = {Event-based cooperative localization using
implicit and explicit measurements},
month = {September},
year = {2015},
address ={San Diego, CA, USA}
pages ={246--251}
}