Decentralized Localization in Homogeneous Swarms Considering Real-World Non-Idealities
- Resource Type
- Authors
- Hanlin Wang; Michael Rubenstein
- Source
- IEEE Robotics and Automation Letters. 6:6765-6772
- Subject
- Robot kinematics
Control and Optimization
Computer science
Mechanical Engineering
Real-time computing
Biomedical Engineering
Swarm behaviour
Location awareness
computer.software_genre
Computer Science Applications
Asynchrony (computer programming)
Human-Computer Interaction
Range (mathematics)
Artificial Intelligence
Control and Systems Engineering
Robot
Computer Vision and Pattern Recognition
Noise (video)
computer
Wireless sensor network
- Language
- ISSN
- 2377-3774
This letter presents a decentralized algorithm that allows a swarm of identically programmed agents to cooperatively estimate their global poses using local range and bearing measurements. The design of our algorithm explicitly considers the phase asynchrony of each agent's local clock, moreover, the execution of our algorithm does not require each agent to actively keep the same neighbors over time. A theoretical analysis about the effect of each agent's sensing noise and communication loss is given, in addition, we validate the presented algorithm via experiments running on a swarm of up to 256 simulated robots and a swarm of 100 physical robots. The results from the experiments show that the presented algorithm allows each agent to estimate its global pose quickly and reliably. Video of 100 robots executing the presented algorithm as well as supplementary material can be found in [1] and [2] .