Asynchronous multi-centralized cooperative localization

Esha D. Nerurkar, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

This paper presents a generalized framework for inter-robot information-transfer schemes in Multi-Centralized Cooperative Localization (MC-CL) under asynchronous communication, i.e., when the communication graph associated with the mobile robot network is time-varying and intermittently disconnected. Specifically, two information-transfer schemes, which differ based on their communication bandwidth requirements per link, are discussed. Even under asynchronous communication constraints, these schemes enable robots to compute pose estimates identical to those generated using the centralized CL framework, albeit delayed. For each of these schemes, necessary and sufficient conditions for the communication-graph connectivity, that enable each robot to generate the centralized estimates, are developed. Moreover, detailed description of these schemes, along with their communication-complexity analysis and analytical results for the expected time delay in obtaining these estimates, are presented. Lastly, simulation results are used to validate the performance (the trade-off between communication link bandwidth and accuracy/delay) of these information-transfer schemes.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4352-4359
Number of pages8
DOIs
StatePublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/TerritoryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

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