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

At a Glance

Synopsis

Browse Publications by Ryan Eustice and the rest of the PeRL Team.

Browse by year

2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2000

Theses

Cooperative localization by factor composition over a faulty low-bandwidth communication channel

Summary


Jeffrey M. Walls, Alexander G. Cunningham and Ryan M. Eustice, Cooperative localization by factor composition over a faulty low-bandwidth communication channel. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 401-408, Seattle, WA, USA, May 2015.

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 },
}