TY - GEN
T1 - A sparsity-aware QR decomposition algorithm for efficient cooperative localization
AU - Zhou, Ke X.
AU - Roumeliotis, Stergios I.
PY - 2012
Y1 - 2012
N2 - This paper focuses on reducing the computational complexity of the extended Kalman filter (EKF)-based multi-robot cooperative localization (CL) by taking advantage of the sparse structure of the measurement Jacobian matrix H. In contrast to the standard EKF update, whose complexity is up to O(N4) (N is the number of robots in a team), we introduce a Modified Householder QR algorithm which fully exploits the sparse structure of the matrix H, and prove that the overall complexity of the EKF update, based on our QR factorization scheme, reduces to O(N3). Finally, we validate the Modified Householder QR algorithm through extensive simulations, and demonstrate its superior performance both in terms of accuracy and CPU runtime, as compared to the current state-of-the-art QR decomposition algorithm for sparse matrices.
AB - This paper focuses on reducing the computational complexity of the extended Kalman filter (EKF)-based multi-robot cooperative localization (CL) by taking advantage of the sparse structure of the measurement Jacobian matrix H. In contrast to the standard EKF update, whose complexity is up to O(N4) (N is the number of robots in a team), we introduce a Modified Householder QR algorithm which fully exploits the sparse structure of the matrix H, and prove that the overall complexity of the EKF update, based on our QR factorization scheme, reduces to O(N3). Finally, we validate the Modified Householder QR algorithm through extensive simulations, and demonstrate its superior performance both in terms of accuracy and CPU runtime, as compared to the current state-of-the-art QR decomposition algorithm for sparse matrices.
UR - http://www.scopus.com/inward/record.url?scp=84864447256&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864447256&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225324
DO - 10.1109/ICRA.2012.6225324
M3 - Conference contribution
AN - SCOPUS:84864447256
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 799
EP - 806
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -