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Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation.

Shijie Zhang1, Yi Cao2

  • 1College of Electrical Engineering, Henan University of Technology, Zhengzhou 450052, China. zhangshijie@haut.edu.cn.

Sensors (Basel, Switzerland)
|September 8, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a cooperative localization method for multi-robot systems that accounts for communication delays. The approach enhances localization accuracy and reduces computational costs in networked robot systems.

Keywords:
communication delayscooperative localizationmulti-robots systemstate estimation error compensation

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Area of Science:

  • Robotics
  • Control Systems
  • Estimation Theory

Background:

  • Multi-robot systems require accurate localization for effective operation.
  • Communication delays can significantly degrade localization accuracy.
  • Existing methods often struggle to compensate for these delays effectively.

Purpose of the Study:

  • To develop a cooperative localization approach for multi-robot systems that explicitly addresses communication delays.
  • To analyze the impact of communication delays on cooperative localization.
  • To reduce the state estimation error caused by time delays in filtering.

Main Methods:

  • Analysis of the causes of communication delays in cooperative localization.
  • Reconstruction of state and measure equations by incorporating communication delays.
  • Development of a cooperative localization algorithm using extended Kalman filtering with state estimation error compensation.

Main Results:

  • The proposed method effectively handles communication delays in multi-robot localization.
  • Demonstrated good localization performance even with communication delays.
  • Achieved reduced computational and communication overhead compared to other methods.

Conclusions:

  • The developed algorithm provides a robust solution for cooperative localization in the presence of communication delays.
  • The state estimation error compensation technique mitigates the negative effects of delays.
  • The approach offers a practical and efficient method for enhancing multi-robot system accuracy.