Cooperative localization has emerged as a promising technique which can complement or even replace global positioning systems (GPS) in many practical scenarios, such as GPS-denied environments. In this paper, we concentrate on the distributed cooperative localization design. The conventional distributed cooperative localization approaches usually yield high computational complexity and communication overhead, due to the lack of an efficient link selection mechanism. For this purpose, we propose a novel concept named opportunistic cooperative localization, based on which each agent is able to select the most informative links rather than utilize all the possible links in a distributed, self-organized, and self-optimized manner. To achieve effective opportunistic selection, overlapping coalition formation (OCF) game is employed. In addition, we also provide an optimized terminating criterion, based on which the agents will be able to know whether and when they are well localized, and thus can terminate their localization procedure efficiently. Through simulations, we observe that by virtue of the proposed OCF game based opportunistic cooperative localization scheme along with the provided terminating criterion, the limitations of conventional distributed cooperative localization can be alleviated at the cost of negligible performance degradation.
Bibliographical noteFunding Information:
Manuscript received November 15, 2016; revised March 26, 2017; accepted May 5, 2017. Date of publication May 18, 2017; date of current version August 14, 2017. This work was supported in part by the National Science Foundation of China under grant numbers 61622101 and 61571020; the Ministry National Key Research and Development Project under grant 2016YFE0123100; and the National Science Foundation under grant number CNS-1343189. This work was presented in part  at the IEEE International Conference on Communications, Sydney, Australia, June 2014. The associate editor coordinating the review of this paper and approving it for publication was Y. J. Zhang. (Corresponding author: Xiang Cheng.) R. Zhang is with the State Key Laboratory of Advanced Optical Communication Systems and Networks, School of Electronics Engineering and Computer Science, Peking University, Beijing 100080, China, and also with the Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO 80523 USA (e-mail: email@example.com).
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- Cooperative localization
- opportunistic selection
- overlapping coalition formation (OCF) game
- terminating criterion