Fundamental Limits of Self-localization for Cooperative Robotic Platforms Using Signals of Opportunity

  • Mei LengEmail author
  • Wee Peng Tay
Part of the Studies in Computational Intelligence book series (SCI, volume 604)


A fundamental problem in robotic applications is the localization of the robots. We consider the problem of global self-localization for a robotic platform with autonomous robots using signals of opportunity (SOOP). We first give a brief overview of the state-of-the-art in robotic localization using SOOP, and then propose a scheme that requires minimal prior environmental information, no pre-configuration, and only loose synchronization between the robots. To further analyze the potential for the use of SOOP in robotic localization and to investigate the effect of clock asynchronism, we derive an analytical expression for the equivalent Fisher information matrix of the Cramér-Rao lower bound (CRLB). The derivation is based on the received signal waveform, and allows us to analyze the contributions of various factors to the localization accuracy. The CRLB provides a valuable guideline for the design of a robotic platform in which a desired level of localization accuracy is to be achieved. We also analyze the distortions in the time difference of arrival and frequency difference of arrival measurements caused by different clock offsets and skews at the robots. We propose a robust algorithm to estimate robot location and velocity, which mitigates the clock biases. Simulation results suggest that our proposed algorithm approaches the CRLB when clock skews have small standard deviations.


Global Navigation Satellite System Global Navigation Satellite System Receive Signal Strength Velocity Estimation Autonomous Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Nanyang Technological UniversitySingaporeSingapore

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