Cooperative localization with information-seeking control
Paper i proceeding, 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

cooperative localization

distributed estimation

belief propagation

Författare

Florian Meyer

Technische Universitat Wien

Henk Wymeersch

Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Franz Hlawatsch

Technische Universitat Wien

IEEE International Conference on Acoustics, Speech and Signal Processing

1520-6149 (ISSN)

2854-2858

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Telekommunikation

Kommunikationssystem

DOI

10.1109/ICASSP.2015.7178492

ISBN

978-1-4673-6997-8