Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems
This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/2560573 |
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| author | Thumeera R. Wanasinghe George K. I. Mann Raymond G. Gosine |
| author_facet | Thumeera R. Wanasinghe George K. I. Mann Raymond G. Gosine |
| author_sort | Thumeera R. Wanasinghe |
| collection | DOAJ |
| description | This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS). The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost. |
| format | Article |
| id | doaj-art-00ed941929944c7483388d8658e35a7e |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-00ed941929944c7483388d8658e35a7e2025-02-03T01:01:48ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/25605732560573Decentralized Cooperative Localization Approach for Autonomous Multirobot SystemsThumeera R. Wanasinghe0George K. I. Mann1Raymond G. Gosine2IS Lab, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaIS Lab, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaIS Lab, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NL, A1B 3X5, CanadaThis study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS). The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.http://dx.doi.org/10.1155/2016/2560573 |
| spellingShingle | Thumeera R. Wanasinghe George K. I. Mann Raymond G. Gosine Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems Journal of Robotics |
| title | Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems |
| title_full | Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems |
| title_fullStr | Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems |
| title_full_unstemmed | Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems |
| title_short | Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems |
| title_sort | decentralized cooperative localization approach for autonomous multirobot systems |
| url | http://dx.doi.org/10.1155/2016/2560573 |
| work_keys_str_mv | AT thumeerarwanasinghe decentralizedcooperativelocalizationapproachforautonomousmultirobotsystems AT georgekimann decentralizedcooperativelocalizationapproachforautonomousmultirobotsystems AT raymondggosine decentralizedcooperativelocalizationapproachforautonomousmultirobotsystems |