Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots

Zhiyun Lin; Han Zhimin; Ming Cao

doi:10.1109/CDC42340.2020.9304254

Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots

Zhiyun Lin, Han Zhimin, Ming Cao

Discrete Technology and Production Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

Abstract

This paper considers the distributed localization problem for multi-robot systems in the plane with bearing measurements. A necessary and sufficient condition for individual robot to check triangular localizability is provided in terms of a geometric condition. Then a distributed orthogonal algorithm is presented for verifying whether a robot is triangularly localizable. In addition, this paper develops a distributed conjugate residual algorithm, which can solve the localization problem in a more efficient manner. Numerical simulations demonstrate the effectiveness of the approach.

Original language	English
Title of host publication	2020 59th IEEE Conference on Decision and Control (CDC)
Publisher	IEEE
DOIs	https://doi.org/10.1109/CDC42340.2020.9304254
Publication status	Published - 2020
Event	59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of Duration: 14-Dec-2020 → 18-Dec-2020

Conference

Conference	59th IEEE Conference on Decision and Control, CDC 2020
Country/Territory	Korea, Republic of
City	Virtual, Jeju Island
Period	14/12/2020 → 18/12/2020

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@inproceedings{8ae08597f14a4272bc19233544fde13d,

title = "Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots",

abstract = "This paper considers the distributed localization problem for multi-robot systems in the plane with bearing measurements. A necessary and sufficient condition for individual robot to check triangular localizability is provided in terms of a geometric condition. Then a distributed orthogonal algorithm is presented for verifying whether a robot is triangularly localizable. In addition, this paper develops a distributed conjugate residual algorithm, which can solve the localization problem in a more efficient manner. Numerical simulations demonstrate the effectiveness of the approach.",

author = "Zhiyun Lin and Han Zhimin and Ming Cao",

year = "2020",

doi = "10.1109/CDC42340.2020.9304254",

language = "English",

booktitle = "2020 59th IEEE Conference on Decision and Control (CDC)",

publisher = "IEEE",

note = "59th IEEE Conference on Decision and Control, CDC 2020 ; Conference date: 14-12-2020 Through 18-12-2020",

}

TY - GEN

T1 - Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots

AU - Lin, Zhiyun

AU - Zhimin, Han

AU - Cao, Ming

PY - 2020

Y1 - 2020

N2 - This paper considers the distributed localization problem for multi-robot systems in the plane with bearing measurements. A necessary and sufficient condition for individual robot to check triangular localizability is provided in terms of a geometric condition. Then a distributed orthogonal algorithm is presented for verifying whether a robot is triangularly localizable. In addition, this paper develops a distributed conjugate residual algorithm, which can solve the localization problem in a more efficient manner. Numerical simulations demonstrate the effectiveness of the approach.

AB - This paper considers the distributed localization problem for multi-robot systems in the plane with bearing measurements. A necessary and sufficient condition for individual robot to check triangular localizability is provided in terms of a geometric condition. Then a distributed orthogonal algorithm is presented for verifying whether a robot is triangularly localizable. In addition, this paper develops a distributed conjugate residual algorithm, which can solve the localization problem in a more efficient manner. Numerical simulations demonstrate the effectiveness of the approach.

U2 - 10.1109/CDC42340.2020.9304254

DO - 10.1109/CDC42340.2020.9304254

M3 - Conference contribution

BT - 2020 59th IEEE Conference on Decision and Control (CDC)

PB - IEEE

T2 - 59th IEEE Conference on Decision and Control, CDC 2020

Y2 - 14 December 2020 through 18 December 2020

ER -

Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots

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