An origin state method for communication constrained cooperative localization with robustness to packet loss
An origin state method for communication constrained cooperative localization with robustness to packet loss
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DOI：
10.1177/0278364914532390
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发表时间：
2014-08
期刊：
影响因子：
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通讯作者：
Jeffrey M. Walls;R. Eustice
中科院分区：
文献类型：
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作者：
Jeffrey M. Walls;R. Eustice
本文报告了一个准确的，实时的解决方案，服务器-客户端合作定位在一个错误的和极其有限的带宽的水下通信信道。我们的算法，被称为原始状态的方法，使一个“服务器”车辆广播其导航信息到多个“客户端”车辆通过带宽有限和故障的通信信道。服务器的广播姿态图可以与客户端上的估计器结合使用，以精确地再现对应的服务器-客户端集中式估计。我们提出了一个广泛的实时现场实施的多智能体自主水下航行器网络使用水声调制解调器在同步时钟传输框架进行通信的算法的评估。
This paper reports on an exact, real-time solution for server–client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a ‘server’ vehicle to broadcast its navigation information to multiple ‘client’ vehicles over a bandwidth-limited and faulty communication channel. The server’s broadcasted pose-graph can be used in conjunction with an estimator on the client to exactly reproduce the corresponding server–client centralized estimate. We present an evaluation over an extensive real-time field implementation of the proposed algorithm for a multi-agent autonomous underwater vehicle network using underwater acoustic modems to communicate in a synchronous-clock transmission framework.