Distributed State Estimation Using Intermittently Connected Robot Networks

摘要: This paper considers the problem of distributed state estimation (DSE) using multirobot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close to each other. To decrease distance that need travel communicate, we divide them into small teams can at different locations share information and update beliefs. Then, propose a new scheme combines: first, schedules ensure network is connected, second, sampling-based motion planning for in every team with objective collect optimal decide location those communicate. best our knowledge, this first DSE framework relaxes all connectivity assumptions, controls intermittent events so uncertainty minimized. We present simulation results demonstrate significant improvement accuracy compared methods maintain an end-to-end connected time.