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Optimized edge appearance probability for cooperative localization based on tree-reweighted nonparametric belief propagation

Vladimir Savić ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem) ; Federico Penna ; Santiago Zazo
36th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2011; Prague; 22 May 2011 through 27 May 2011 (15206149). p. 3028-3031 . (2011)
[Konferensbidrag, refereegranskat]

Nonparametric belief propagation (NBP) is a well-known particle-based method for distributed inference in wireless networks. NBP has a large number of applications, including cooperative localization. However, in loopy networks NBP suffers from similar problems as standard BP, such as over-confident beliefs and possible non-convergence. Tree-reweighted NBP (TRW-NBP) can mitigate these problems, but does not easily lead to a distributed implementation due to the non-local nature of the required so-called edge appearance probabilities. In this paper, we propose a variation of TRW-NBP, suitable for cooperative localization in wireless networks. Our algorithm uses a fixed edge appearance probability for every edge, and can outperform standard NBP in dense wireless networks.

Nyckelord: Cooperative localization, nonparametric belief propagation, tree-reweighted belief propagation, wireless networks

Denna post skapades 2011-10-05. Senast ändrad 2016-12-06.
CPL Pubid: 146861


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