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Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks

B. Etzlinger ; F. Meyer ; F. Hlawatsch ; A. Springer ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
Ieee Transactions on Signal Processing (1053-587X). Vol. 65 (2017), 14, p. 3587-3602.
[Artikel, refereegranskad vetenskaplig]

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm is compatible with real-time operation and a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.

Nyckelord: Agent network; network synchronization; cooperative localization; belief propagation; message passing; factor graph; CoSLAS



Denna post skapades 2017-07-14. Senast ändrad 2017-07-27.
CPL Pubid: 250698

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Kommunikationssystem (1900-2017)

Ämnesområden

Data- och informationsvetenskap

Chalmers infrastruktur