Consistent batch fusion for decentralized multi-robot cooperative localization
Ning Hao
Fenghua He
Yu Yao
Yi Hou
School of Astronautics,Harbin Institute of Technology,Xidazhi Street,Harbin 150000,Heilongjiang,China
摘要：This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collabora-tively estimating the poses of a group of robots with respect to a common reference coordinate system using robot-to-robot relative measurements and intermittent absolute measurements in a distributed manner.To address this problem,we present a decentralized fusion method that enables batch updating to handle relative measurements from multiple robots simulta-neously.This method can improve both the accuracy and computational efficiency of cooperative localization.To reduce communication costs and reliance on connectivity,we do not maintain the inter-robot state correlations.Instead,we adopt a covariance intersection(CI)technique to design an upper bound that replaces unknown joint correlations.We propose an optimization method to determine a tight upper bound for the correlations in the joint update.The consistency and conver-gence of our proposed algorithm is theoretically analyzed.Furthermore,we conduct Monte Carlo numerical simulations and real-world experiments to demonstrate that the proposed method outperforms existing approaches in terms of both accuracy and consistency.
机标关键词：localizationfusionbatchconsistentcooperativedecentralizedmulti-robot
论文发表日期：2024-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 638-651 )
英文信息