Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems
Clicks: 117
ID: 171755
2016
Article Quality & Performance Metrics
Overall Quality
Improving Quality
0.0
/100
Combines engagement data with AI-assessed academic quality
Reader Engagement
Emerging Content
4.8
/100
16 views
16 readers
Trending
AI Quality Assessment
Not analyzed
Abstract
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.
| Reference Key |
wanasinghe2016decentralizedjournal
Use this key to autocite in the manuscript while using
SciMatic Manuscript Manager or Thesis Manager
|
|---|---|
| Authors | Wanasinghe, Thumeera R.;Mann, George K. I.;Gosine, Raymond G.; |
| Journal | journal of robotics |
| Year | 2016 |
| DOI |
DOI not found
|
| URL | |
| Keywords |
Citations
No citations found. To add a citation, contact the admin at info@scimatic.org
Comments
No comments yet. Be the first to comment on this article.