Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks
Journal article, 2017

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 is compatible with real-time operation and 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.


message passing

factor graph

belief propagation

cooperative localization

Agent network

network synchronization


B. Etzlinger

Johannes Kepler University of Linz (JKU)

Florian Meyer

Centre for Maritime Research and Experimentation

Massachusetts Institute of Technology (MIT)

Franz Hlawatsch

Vienna University of Technology

A. Springer

Johannes Kepler University of Linz (JKU)

Henk Wymeersch

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

IEEE Transactions on Signal Processing

1053-587X (ISSN) 1941-0476 (eISSN)

Vol. 65 14 3587-3602 7893772

Cooperative Situational Awareness for Wireless Networks (COOPNET)

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

High precision positioning for cooperative ITS applications

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Subject Categories

Computer and Information Science



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