TY - GEN
T1 - Cooperative multi-robot localization under communication constraints
AU - Trawny, Nikolas
AU - Roumeliotis, Stergios I.
AU - Giannakis, Georgios B.
PY - 2009
Y1 - 2009
N2 - This paper addresses the problem of cooperative localization (CL) under severe communication constraints. Specifically, we present minimum mean square error (MMSE) and maximum a posteriori (MAP) estimators that can process measurements quantized with as little as one bit per measurement. During CL, each robot quantizes and broadcasts its measurements and receives the quantized observations of its teammates. The quantization process is based on the appropriate selection of thresholds, computed using the current state estimates, that minimize the estimation error metric considered. Extensive simulations demonstrate that the proposed Iteratively-Quantized Extended Kalman filter (IQEKF) and the Iteratively Quantized MAP (IQMAP) estimator achieve performance indistinguishable of that of their real-valued counterparts (EKF and MAP, respectively) when using as few as 4 bits for quantizing each robot measurement.
AB - This paper addresses the problem of cooperative localization (CL) under severe communication constraints. Specifically, we present minimum mean square error (MMSE) and maximum a posteriori (MAP) estimators that can process measurements quantized with as little as one bit per measurement. During CL, each robot quantizes and broadcasts its measurements and receives the quantized observations of its teammates. The quantization process is based on the appropriate selection of thresholds, computed using the current state estimates, that minimize the estimation error metric considered. Extensive simulations demonstrate that the proposed Iteratively-Quantized Extended Kalman filter (IQEKF) and the Iteratively Quantized MAP (IQMAP) estimator achieve performance indistinguishable of that of their real-valued counterparts (EKF and MAP, respectively) when using as few as 4 bits for quantizing each robot measurement.
UR - http://www.scopus.com/inward/record.url?scp=70350400437&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350400437&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152606
DO - 10.1109/ROBOT.2009.5152606
M3 - Conference contribution
AN - SCOPUS:70350400437
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4394
EP - 4400
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -