paper

Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks

arXiv:1611.01985 · doi:10.1109/TSP.2017.2691665

Abstract

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm allows for real-time operation and is suitable for a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.

13 pages, 6 figures, 3 tables; manuscript submitted to IEEE Transaction on Signal Processing

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