Decentralized multi-robot cooperative localization using covariance intersection

Luis C. Carrillo-Arce, Esha D. Nerurkar, Jose L. Gordillo, Stergios I. Roumeliotis

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

74 Scopus citations

Abstract

In this paper, we present a Covariance Intersection (CI)-based algorithm for reducing the processing and communication complexity of multi-robot Cooperative Localization (CL). Specifically, for a team of N robots, our proposed approximate CI-based CL approach has processing and communication complexity only linear, O(N), in the number of robots. Moreover, and in contrast to alternative approximate methods, our approach is provably consistent, can handle asynchronous communication, and does not place any restriction on the robots' motion. We test the performance of our proposed approach in both simulations and experimentally, and show that it outperforms the existing linear-complexity split CI-based CL method.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages1412-1417
Number of pages6
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

Fingerprint Dive into the research topics of 'Decentralized multi-robot cooperative localization using covariance intersection'. Together they form a unique fingerprint.

Cite this