PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
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Cooperative localization by factor composition over a faulty low-bandwidth communication channel
Summary
Abstract
This paper reports on an underwater cooperative localization algorithm for faulty low-bandwidth communication channels based on a factor graph estimation framework. Vehicles measure the one-way-travel-time (OWTT) of acoustic broadcasts to obtain a relative range observation to the transmitting vehicle. We present a method to robustly share locally observed sensor data across the network by exploiting odometry factor composition. Our algorithm calls on approximate marginalization techniques to compute a compact set of informative factors that enable local navigation data to be shared efficiently. We provide results from a real-time implementation of our algorithm using two autonomous underwater vehicles and a surface vehicle.
Bibtex entry
@INPROCEEDINGS { jwalls-2015a,
AUTHOR = { Jeffrey M. Walls and Alexander G. Cunningham and Ryan M. Eustice },
TITLE = { Cooperative localization by factor composition over a faulty low-bandwidth communication channel },
BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation },
YEAR = { 2015 },
MONTH = { May },
ADDRESS = { Seattle, WA, USA },
PAGES = { 401--408 },
}