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Distributed Localization and Tracking of Mobile Networks Including Noncooperative Objects

Florian Meyer ; Ondrej Hlinka ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem) ; Erwin Riegler ; Franz Hlawatsch
IEEE Transactions on Signal and Information Processing over Networks (2373-776X). Vol. 2 (2016), 1, p. 57-71.
[Artikel, refereegranskad vetenskaplig]

We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and distributed tracking (DT). Multiple mobile agents and objects are localized and tracked using measurements between agents and objects and between agents. For a distributed operation and low complexity, we combine particle-based belief propagation with a consensus or gossip scheme. High localization accuracy is achieved through a probabilistic information transfer between the CS and DT parts of the underlying factor graph. Simulation results demonstrate significant improvements in both agent self-localization and object localization performance compared to separate CS and DT, and very good scaling properties with respect to the numbers of agents and objects.

Nyckelord: Agent network, belief propagation, consensus, cooperative localization, distributed estimation, distributed tracking, factor graph, gossip, message passing, sensor network.



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Denna post skapades 2016-11-13. Senast ändrad 2016-12-06.
CPL Pubid: 245086

 

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Projekt

Denna publikation är ett resultat av följande projekt:


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