Cooperative Simultaneous Localization and Tracking in Mobile Agent Networks
作者： Franz Hlawatsch , Ondrej Hlinka , Erwin Riegler , Henk Wymeersch , Florian Meyer
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摘要: We introduce a framework and methodology of cooperative simultaneous localization tracking (CoSLAT) in decentralized mobile agent networks. CoSLAT provides con- sistent combination self-localization (CS L) distributed target (DTT). Multiple targets agents are tracked using pairwise measurements between agents. propose algorithm that combines particle-based belief propa- gation with the likelihood consensus scheme performs bidirectional probabilistic information transfer CSL DTT. Simulation results demonstrate significant improveme nts both performance compared to separate
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