Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication

Abstract : This work addresses the problem of distributed multi-agent localization in presence of heterogeneous measurements and wireless communication. The proposed algorithm integrates low precision global sensors, like GPS and compasses, with more precise relative position (i.e., range plus bearing) sensors. Global sensors are used to reconstruct the absolute position and orientation, while relative sensors are used to retrieve the shape of the formation. A fast distributed and asynchronous linear least-squares algorithm is proposed to solve an approximated version of the non-linear Maximum Likelihood problem. The algorithm is provably shown to be robust to communication losses and random delays. The use of ACK-less broadcast-based communication protocols ensures an efficient and easy implementation in real world scenarios. If the relative measurement errors are sufficiently small, we show that the algorithm attains a solution which is very close to the maximum likelihood solution. The theoretical findin
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https://hal.archives-ouvertes.fr/hal-01990581
Contributor : Antonio Franchi <>
Submitted on : Wednesday, January 23, 2019 - 11:26:20 AM
Last modification on : Friday, October 11, 2019 - 8:23:28 PM

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Marco Todescato, Andrea Carron, Ruggero Carli, Antonio Franchi, Luca Schenato. Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication. European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.2527-2532, ⟨10.1109/ECC.2016.7810670⟩. ⟨hal-01990581⟩

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