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
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 },
}