Cooperative simultaneous localization and tracking (CoSLAT) with reduced complexity and communication
Paper in proceeding, 2013

The recently introduced framework of cooperative simultaneous localization and tracking (CoSLAT) combines Bayesian cooperative agent self-localization with distributed target tracking. The original CoSLAT algorithm suffers from high computation and communication costs because it uses a particle-based message representation. Here, we propose an advanced hybrid particle-based and parametric message passing algorithm for CoSLAT in which both costs are significantly reduced. Simulation results show that the localization/tracking performance is not affected.

nonparametric belief propagation

cooperative localization

Distributed target tracking


likelihood consensus


Florian Meyer

Vienna University of Technology

Franz Hlawatsch

Vienna University of Technology

Henk Wymeersch

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings

15206149 (ISSN)

978-147990356-6 (ISBN)

Cooperative Situational Awareness for Wireless Networks (COOPNET)

European Commission (EC) (EC/FP7/258418), 2011-05-01 -- 2016-04-30.

Areas of Advance

Information and Communication Technology

Subject Categories

Signal Processing





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