Name
Title | ||
|---|---|---|
Cooperative localization by factor composition over a faulty low-bandwidth communication channel |
Abstract | ||
|---|---|---|
This paper reports on an underwater cooperative localization algorithm for faulty low-bandwidth communication channels based on a factor graph estimation framework. Vehicles measure the one-way-travel-time (OWTT) of acoustic broadcasts to obtain a relative range observation to the transmitting vehicle. We present a method to robustly share locally observed sensor data across the network by exploiting odometry factor composition. Our algorithm calls on approximate marginalization techniques to compute a compact set of informative factors that enable local navigation data to be shared efficiently. We provide results from a real-time implementation of our algorithm using two autonomous underwater vehicles and a surface vehicle. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139030 | 2015 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
underwater cooperative localization algorithm,odometry factor composition,faulty low-bandwidth communication channel,factor graph estimation framework,one-way-travel-time measurement,acoustic broadcasts,relative range observation,locally observed sensor data sharing,informative factors,approximate marginalization techniques,autonomous underwater vehicles,surface vehicle | Factor graph,Approximation algorithm,Odometry,Communication channel,Control engineering,Robustness (computer science),Bandwidth (signal processing),Global Positioning System,Engineering,Underwater | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
5 | 0.45 | 17 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jeffrey M. Walls | 1 | 49 | 3.65 |
| Alexander Cunningham | 2 | 19 | 1.58 |
| Ryan M. Eustice | 3 | 1220 | 83.69 |