Abstract
This letter studies the global localization of a group of communicating mobile agents via a dead-reckoning system aided by occasional interagent relative measurements. We consider a setting that communication network is unreliable and maintaining network-wide connectivity is not possible at all times. We propose a hybrid approach that improves the localization performance of a loosely coupled cooperative localization algorithm by fusing its estimates with those obtained opportunistically from a server-assisted tightly coupled cooperative localization. The resulting hybrid algorithm inherits the advantages of both of its constituting algorithms. A numerical example demonstrates our results.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.