A Small-Sized Locating Message for Cooperative Localization under Communication Constraint

A Small-Sized Locating Message for Cooperative Localization under Communication Constraint

When one agent simultaneously measures multiple teammates in cooperative localization, how to share these relative measurements with low-cost communication is interesting. In this chapter, different communication requirements for sharing absolute measurement and relative measurement are analyzed und...

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Bibliographic Details
Main Authors: Leigang Wang, Tao Zhang, Rongjian Liang
Format: Article
Language:English
Published: SAGE Publishing 2016-04-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/62809
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spelling doaj-f2d1a11cea864dc48f0f6c04e75f11d22020-11-25T03:15:32ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-04-011310.5772/6280910.5772_62809A Small-Sized Locating Message for Cooperative Localization under Communication ConstraintLeigang Wang0Tao Zhang1Rongjian Liang2 Luo Yang Electronic Equipment Test Center of China, Luoyang, China Department of Automation, Tsinghua University, Beijing, China Department of Automation, Tsinghua University, Beijing, ChinaWhen one agent simultaneously measures multiple teammates in cooperative localization, how to share these relative measurements with low-cost communication is interesting. In this chapter, different communication requirements for sharing absolute measurement and relative measurement are analyzed under extended Kalman filtering, whereby we develop an algorithm to convert multiple relative measurements into one virtual absolute measurement. By this, less number of elements are required to be transmitted across the agents. The utilization of multi-relative measurements is changed to the mode of one round communication from conventional mode where the measurements are processed and broadcast one by one. Simulation results demonstrate that, using the virtual absolute measurement, the almost equal localization performance with real relative measurements is obtained.https://doi.org/10.5772/62809
collection DOAJ
language English
format Article
sources DOAJ
author Leigang Wang
Tao Zhang
Rongjian Liang
spellingShingle Leigang Wang
Tao Zhang
Rongjian Liang
A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
International Journal of Advanced Robotic Systems
author_facet Leigang Wang
Tao Zhang
Rongjian Liang
author_sort Leigang Wang
title A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
title_short A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
title_full A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
title_fullStr A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
title_full_unstemmed A Small-Sized Locating Message for Cooperative Localization under Communication Constraint
title_sort small-sized locating message for cooperative localization under communication constraint
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2016-04-01
description When one agent simultaneously measures multiple teammates in cooperative localization, how to share these relative measurements with low-cost communication is interesting. In this chapter, different communication requirements for sharing absolute measurement and relative measurement are analyzed under extended Kalman filtering, whereby we develop an algorithm to convert multiple relative measurements into one virtual absolute measurement. By this, less number of elements are required to be transmitted across the agents. The utilization of multi-relative measurements is changed to the mode of one round communication from conventional mode where the measurements are processed and broadcast one by one. Simulation results demonstrate that, using the virtual absolute measurement, the almost equal localization performance with real relative measurements is obtained.
url https://doi.org/10.5772/62809
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AT rongjianliang asmallsizedlocatingmessageforcooperativelocalizationundercommunicationconstraint
AT leigangwang smallsizedlocatingmessageforcooperativelocalizationundercommunicationconstraint
AT taozhang smallsizedlocatingmessageforcooperativelocalizationundercommunicationconstraint
AT rongjianliang smallsizedlocatingmessageforcooperativelocalizationundercommunicationconstraint
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