DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles
Systems and Control
2021-10-06 v1 Multiagent Systems
Optimization and Control
Abstract
How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this problem from an optimization point of view: we directly optimize the nonconvex maximum-likelihood estimator in the presence of range measurements contaminated with Gaussian noise, and we obtain a provably convergent, accurate and distributed positioning algorithm that outperforms the extended Kalman filter, a standard centralized solution for this problem.
Keywords
Cite
@article{arxiv.1709.08746,
title = {DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles},
author = {Cláudia Soares and Pusheng Ji and João Gomes and António Pascoal},
journal= {arXiv preprint arXiv:1709.08746},
year = {2021}
}