PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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An origin state method for communication constrained cooperative localization with robustness to packet loss

Summary


Jeffrey M. Walls and Ryan M. Eustice, An origin state method for communication constrained cooperative localization with robustness to packet loss. International Journal of Robotics Research, 33(9):1191-1208, 2014.

Abstract

This paper reports on an exact, real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a 'server' vehicle to broadcast its navigation information to multiple 'client' vehicles over a bandwidth-limited and faulty communication channel. The server's broadcasted pose-graph can be used in conjunction with an estimator on the client to exactly reproduce the corresponding server-client centralized estimate. We present an evaluation over an extensive real-time field implementation of the proposed algorithm for a multi-agent autonomous underwater vehicle network using underwater acoustic modems to communicate in a synchronous-clock transmission framework.

Bibtex entry

@ARTICLE { jwalls-2014a,
    AUTHOR = { Jeffrey M. Walls and Ryan M. Eustice },
    TITLE = { An origin state method for communication constrained cooperative localization with robustness to packet loss },
    JOURNAL = { International Journal of Robotics Research },
    YEAR = { 2014 },
    VOLUME = { 33 },
    NUMBER = { 9 },
    PAGES = { 1191--1208 },
}