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Distributed Cooperative Localization with Efficient Pairwise Range Measurements

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Distributed Autonomous Robotic Systems (DARS 2021)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 22))

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Abstract

We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements are not sufficient to compute a complete relative 3D position. Therefore, covariance intersection is performed in a transformed space along their relative estimated positions, while preserving cross-correlations between other state variables. Given the characteristics of the acoustic channel, only one robot can transmit data or a ranging request at a time, hence the pairwise limitation. We also present a heuristic for choosing a peer robot for a range measurement by maximizing mutual information. Our method places no further restrictions on the order, timing or scheduling of relative measurements. We evaluated our method for accuracy and consistency, and present results from simulations as well as outdoor experiments.

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Acknowledgement

This work was partially funded by the Swiss National Science Foundation under grant CRSII2_160726/1.

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Authors and Affiliations

  1. Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Anwar Quraishi & Alcherio Martinoli

Authors
  1. Anwar Quraishi
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  2. Alcherio Martinoli
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Corresponding author

Correspondence to Anwar Quraishi .

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Editors and Affiliations

  1. Mechanical Engineering and Science, Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  2. Mechanical Systems Engineering, Nagoya University, Nagoya, Japan

    Shun-ichi Azuma

  3. Computer Science and Information Technology, Hokkaido University, Sapporo, Hokkaido, Japan

    Masahito Yamamoto

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Quraishi, A., Martinoli, A. (2022). Distributed Cooperative Localization with Efficient Pairwise Range Measurements. In: Matsuno, F., Azuma, Si., Yamamoto, M. (eds) Distributed Autonomous Robotic Systems. DARS 2021. Springer Proceedings in Advanced Robotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-92790-5_11

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