Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication

Lukas Luft, Tobias Schubert, Stergios Roumeliotis, Wolfram Burgard

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper provides a fully decentralized algorithm for collaborative localization based on the extended Kalman filter. The major challenge in decentralized collaborative localization is to track inter-robot dependencies, which is particularly difficult when sustained synchronous communication between the robots cannot be guaranteed. Current approaches suffer from the need for particular communication schemes, extensive bookkeeping of measurements, overly conservative assumptions, or the restriction to specific measurement models. This paper introduces a localization algorithm that is able to approximate the inter-robot correlations while fulfilling all of the following conditions: communication is limited to two robots that obtain a relative measurement, the algorithm is recursive in the sense that it does not require storage of measurements and each robot maintains only the latest estimate of its own pose, and it supports generic measurement models. The fact that the proposed approach can handle these particularly difficult conditions ensures that it is applicable to a wide range of multi-robot scenarios. We provide mathematical details on our approximation. Extensive experiments carried out using real-world datasets demonstrate the improved performance of our method compared with several existing approaches.

Original languageEnglish (US)
Pages (from-to)1152-1167
Number of pages16
JournalInternational Journal of Robotics Research
Volume37
Issue number10
DOIs
StatePublished - Sep 1 2018

Fingerprint

Multi-robot Systems
Decentralized
Pairwise
Robot
Robots
Communication
Multi-robot
Kalman Filter
Extended Kalman filters
Restriction
Scenarios
Approximation
Model
Estimate
Range of data
Demonstrate
Experiment

Keywords

  • Collaborative localization
  • cross-correlation
  • extended Kalman filter
  • multi-robot systems
  • over-confidence

Cite this

Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication. / Luft, Lukas; Schubert, Tobias; Roumeliotis, Stergios; Burgard, Wolfram.

In: International Journal of Robotics Research, Vol. 37, No. 10, 01.09.2018, p. 1152-1167.

Research output: Contribution to journalArticle

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