Multirobot Cooperative Localization Algorithm with Explicit Communication and Its Topology Analysis

  • Tsang-Kai ChangEmail author
  • Shengkang Chen
  • Ankur Mehta
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 10)


This paper proposes a new cooperative localization algorithm that separates communication and observation into independent mechanisms. While existing algorithms acknowledge observations between robots are crucial in cooperative localization schemes, communication is considered only an auxiliary role in observation update but not explicitly stated. However, such algorithms require the communication to be available whenever needed, and it is difficult to consider the effect of communication imperfection, which is unavoidable in real systems. We propose the Global State–Covariance Intersection (GS-CI) multirobot cooperative localization algorithm that can independently update localization estimates through both observation and communication steps. We also provide a theoretical upper bound of the resulting estimation uncertainty based on observation and communication topologies. Simulations using generated data validates the theoretical analysis, and shows the comparable performance to the centralized equivalent approach with less communication together with real-world data.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.University of CaliforniaLos AngelesUSA

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