Adapting Measurement and Belief Sharing in Multi-Robot Simultaneous Localization and Tracking
Date Issued
2015
Date
2015
Author(s)
Chang, Chun-Kai
Abstract
Existing multi-robot cooperative perception solutions can be mainly classified into two categories, measurement-based and belief-based, according to the information shared among robots. With well-controlled communication, measurement-based approaches are expected to achieve theoretically optimal estimates while belief-based approaches are not. Nevertheless, belief-based approaches perform relatively stable under unstable communication as a belief contains the information of multiple previous measurements. Motivated by the observation that measurement sharing and belief sharing are respectively superior in different conditions, in this thesis an adapting algorithm, communication adaptive multi-robot simultaneous localization and tracking (ComAd MRSLAT), is proposed to combine the advantages of both to tackle the unstable communication conditions. However, the decision process of what kind of information to share is only based on a probability distribution of states, which is estimated according to a set of observations and observation probabilities. Therefore, it could be seen as a multi-robot partially observable Markov decision process (POMDP) problem. The information to share is decided by maximizing the expected uncertainty reduction, based on which the algorithm dynamically alternates between measurement-sharing and belief-sharing without information loss or reuse. With using the expected effective communication and information receiving, the proposed ComAd MR-SLAT can tackle the complexity issue and online decide the sharing strategy to adapt different communication conditions. The proposed ComAd MR-SLAT is evaluated in communication conditions with different packet loss rates, bursty loss lengths, and data association conditions. The proposed ComAd MR-SLAT outperforms both measurement-based and belief-based MR-SLAT in both localization and data association accuracy. In addition, the real data are also collected and evaluated, the experimental results demonstrate the effectiveness of the proposed adapting algorithm and exhibit that the ComAd MR-SLAT is robust in the simulation and real data experiment.
Subjects
Communication
multi-robot
localization
tracking
cooperative
POMDP
Type
thesis
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