This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected innovation for state estimation is high. Because agents know the event-triggering condition for measurements to be sent, the lack of a measurement is thus also informative and fused into state estimates. The robots use a covariance intersection mechanism to occasionally synchronize their local estimates of the full network state. In addition, heuristic balancing dynamics on the robots’ covariance-intersection-triggering thresholds ensure that, in large-diameter networks, the local error covariances remains below desired bounds across the network. Simulations on both linear and nonlinear dynamics/measurement models show that the event-triggering approach achieves nearly optimal state estimation performance in a wide range of operating conditions, even when using only a fraction of the communication cost required by conventional full data sharing. The robustness of the proposed approach to lossy communications as well as the relationship between network topology and covariance-intersection-based synchronization requirements are also examined.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Robot Localization Using Event-Triggered Estimation


    Contributors:

    Published in:

    Publication date :

    2018-03-26


    Size :

    23 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Stochastic Event-Triggered Sequential Fusion Filtering for USV Cooperative Localization

    Niu, Mengfei / Wen, Guanghui / Shen, Han et al. | IEEE | 2023


    Three-Dimensional Nonlinear Cooperative Salvo Using Event-Triggered Strategy

    Sinha, Abhinav / Kumar, Shashi Ranjan / Mukherjee, Dwaipayan | AIAA | 2020


    Distributed Event-Triggered Cooperative Formation Control of Fixed-Wing UAV

    Yue, Keyuan / Yuan, Jianquan / Hao, Mingrui | Springer Verlag | 2022



    Event-Triggered Control for a Three DoF Manipulator Robot

    Saul Enrique Benitez-Garcia / Miguel Gabriel Villarreal-Cervantes | BASE | 2018

    Free access