Cooperative localization with information-seeking control
Paper in proceedings, 2015

We propose a Bayesian method for cooperative localization and control in mobile agent networks. Distributed, cooperative self-localization of each agent is supported by an information-seeking control of the movement of the agents. For cooperative localization, the SPAWN message passing scheme is used. Cooperative control is achieved by maximizing the negative joint posterior entropy of the agent states via a gradient ascent. The localization part of our method provides the control part with sample-based probabilistic information. Simulation results demonstrate intelligent behavior of the agents and excellent localization accuracy.

information-seeking control

Agent networks

belief propagation

cooperative localization

distributed estimation


Florian Meyer

Vienna University of Technology

Henk Wymeersch

Chalmers, Signals and Systems, Communication and Antenna Systems, Communication Systems

Franz Hlawatsch

Vienna University of Technology

IEEE International Conference on Acoustics, Speech and Signal Processing

1520-6149 (ISSN)


Areas of Advance

Information and Communication Technology

Subject Categories


Communication Systems





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