Fault Tolerant Multi-Robot Cooperative Localization Based on Covariance Union

被引：17
作者：
Wang, Xuedong [1 ,2 ]
Sun, Shudong [1 ,2 ]
Li, Tiancheng [3 ]
Liu, Yaqiong [1 ,2 ]
机构：
[1] Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Peoples R China
[2] Minist Ind & Informat Technol, Key Lab Ind Engn & Intelligent Mfg, Xian 710072, Peoples R China
[3] Northwestern Polytech Univ, Sch Automat, Xian 710072, Peoples R China
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2021年 / 6卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Multi-robot systems; cooperative localization; fault-tolerant; covariance union; SENSOR ANALYSIS; FUSION;
D O I：
10.1109/LRA.2021.3100000
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper studies the multi-robot cooperative localization (CL) problem, a challenging scenario in which robots may receive spurious sensor data, potentially causing inconsistent state estimates. To address this problem, this paper presents a fully decentralized CL algorithm based on covariance union (CU), referred to as DCL-CU. The proposed approach is fault-tolerant and supports generic measurement models. Extensive Monte Carlo simulations and a group of real-world experiments were conducted to verify the performance of the proposed DCL-CU approach. The results show that the DCL-CU approach can efficiently deal with spurious sensor data.
引用
收藏
页码：7799 / 7806
页数：8
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