Cooperative Localization for Mobile Networks: A Distributed Belief Propagation - Mean Field Message Passing Algorithm

被引：21

作者：

Cakmak, Burak ^{[1
]}

Urup, Daniel N. ^{[2
]}

Meyer, Florian ^{[3
]}

Pedersen, Troels ^{[1
]}

Fleury, Bernard H. ^{[1
]}

Hlawatsch, Franz ^{[4
]}

机构：

[1] Aalborg Univ, Dept Elect Syst, DK-9100 Aalborg, Denmark

[2] Danish Def, DK-1620 Copenhagen, Denmark

[3] CMRE, I-19126 La Spezia, Italy

[4] TU Wien, Inst Telecommun, A-1040 Vienna, Austria

来源：

IEEE SIGNAL PROCESSING LETTERS | 2016年 / 23卷 / 06期

基金：

奥地利科学基金会;

关键词：

Belief propagation; cooperative localization; distributed estimation; information projection; Kullback-Leibler divergence; mean field approximation; mobile agent network;

D O I：

10.1109/LSP.2016.2550534

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We propose a hybrid message passing method for distributed cooperative localization and tracking of mobile agents. Belief propagation and mean field message passing are employed for, respectively, the motion-related and measurement-related parts of the factor graph. Using a Gaussian belief approximation, only three real values per message passing iteration have to be broadcast to neighboring agents. Despite these very low communication requirements, the estimation accuracy can be comparable to that of particle-based belief propagation.

引用

页码：828 / 832

页数：5