Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm declares the agent making this measurement as the interim master. By acquiring information from the interim landmark, the agent the relative measurement is taken from, the interim master can calculate and broadcast a set of intermediate variables which each robot can then use to update its estimates to match that of a centralized Extended Kalman Filter for cooperative localization. Once an update is done, no further communication is needed until the next relative measurement

Message Passing-Based 9-D Cooperative Localization and Navigation with Embedded Particle Flow

Cooperative localization (CL) is an important technology for innovative services such as location-aware communication networks, modern convenience, and public safety. We consider wireless networks with mobile agents that aim to localize themselves by performing pairwise measurements amongst agents and exchanging their location information. Belief propagation (BP) is a state-of-the-art Bayesian method for CL. In CL, particle-based implementations of BP often are employed that can cope with non-linear measurement models and state dynamics. However, particle-based BP algorithms are known to suffer from particle degeneracy in large and dense networks of mobile agents with high-dimensional states. This paper derives the messages of BP for CL by means of particle flow, leading to the development of a distributed particle-based message-passing algorithm which avoids particle degeneracy. Our combined particle flow-based BP approach allows the calculation of highly accurate proposal distributions for agent states with a minimal number of particles. It outperforms conventional particle-based BP algorithms in terms of accuracy and runtime. Furthermore, we compare the proposed method to a centralized particle flow-based implementation, known as the exact Daum-Huang filter, and to sigma point BP in terms of position accuracy, runtime, and memory requirement versus the network size. We further contrast all methods to the theoretical performance limit provided by the posterior Cram\'er-Rao lower bound (PCRLB). Based on three different scenarios, we demonstrate the superiority of the proposed method.Comment: 14 pages (two column), 7 figure

Local Maps: New Insights into Mobile Agent Algorithms

In this paper, we study the complexity of computing with mobile agents having small local knowledge. In particular, we show that the number of mobile agents and the amount of local information given initially to agents can significantly influence the time complexity of resolving a distributed problem. Our results are based on a generic scheme allowing to transform a message passing algorithm, running on an $n$-node graph $G$, into a mobile agent one. By generic, we mean that the scheme is independent of both the message passing algorithm and the graph $G$. Our scheme, coupled with a well-chosen clustered representation of the graph, induces $\widetilde{O}(1) ratio between the time complexity of the obtained mobile agent algorithm and the time complexity of the original message passing counterpart, while using$\widetilde{O}(n)$mobile agents. If only$k$agents are allowed ($k$is an integer parameter), then we show that the time ratio is$O(n/\sqrt{k})$. As a consequence, we show that any global labeling function of$G$can be computed by exactly$n$mobile agents knowing their$n^{\epsilon}$-neighborhood in$\widetilde{O}(D)$time,$D$is the diameter of the graph and$\epsilon$is an arbitrary small constant. We apply our generic results for the fundamental problem of computing a leader (resp. a BFS tree) under the additional restriction of$\widetilde{O}(1)$(resp.$\widetilde{O}(n)$) memory bits per agent, and obtain$\widetilde{O}(D)$ time algorithms