Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple interrobot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To enhance the resilience of multirobot cooperative localizatio...

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Bibliographic Details
Published in:IEEE transactions on robotics 2022-02, Vol.38 (1), p.197-208
Main Authors: Chang, Tsang-Kai, Chen, Kenny, Mehta, Ankur
Format: Article
Language:English
Subjects:
Algorithms
Communication
Computer networks
Cooperative localization
Correlation
Covariance
covariance intersection (CI)
distributed estimation
Estimation
Intersections
Kalman filtering
Kalman filters
Localization
Location awareness
Multiple robots
Resilience
Robot sensing systems
Robots
Topology
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Summary:Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple interrobot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To enhance the resilience of multirobot cooperative localization algorithms in a distributed system, we use covariance intersection to formalize a localization algorithm with an explicit communication update and ensure estimation consistency at the same time. We investigate the covariance boundedness criterion of our algorithm with respect to communication and observation graphs, demonstrating provable localization performance under even sparse communications topologies. We substantiate the resilience of our algorithm as well as the boundedness analysis through experiments on simulated and benchmark physical data against varying communications connectivity and failure metrics. Especially when interrobot communication is entirely blocked or partially unavailable, we demonstrate that our method is less affected and maintains desired performance compared to existing cooperative localization algorithms.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2021.3104965