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Cooperative simultaneous localization and tracking (CoSLAT) with reduced complexity and communication

Florian Meyer ; Franz Hlawatsch ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
2013 38th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2013; Vancouver, BC; Canada; 26 May 2013 through 31 May 2013 (1520-6149). p. 4484-4488. (2013)
[Konferensbidrag, refereegranskat]

The recently introduced framework of cooperative simultaneous localization and tracking (CoSLAT) combines Bayesian cooperative agent self-localization with distributed target tracking. The original CoSLAT algorithm suffers from high computation and communication costs because it uses a particle-based message representation. Here, we propose an advanced hybrid particle-based and parametric message passing algorithm for CoSLAT in which both costs are significantly reduced. Simulation results show that the localization/tracking performance is not affected.

Nyckelord: cooperative localization; CoSLAT; Distributed target tracking; likelihood consensus; nonparametric belief propagation

Article number 6638508

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Denna post skapades 2013-12-15. Senast ändrad 2016-07-12.
CPL Pubid: 189199


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Denna publikation är ett resultat av följande projekt:

Cooperative Situational Awareness for Wireless Networks (COOPNET) (EC/FP7/258418)