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arXiv · 1709.08746

DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles

Cláudia Soares·Pusheng Ji·João Gomes·António Pascoal
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Abstract

How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this problem from an optimization point of view: we directly optimize the nonconvex maximum-likelihood estimator in the presence of range measurements contaminated with Gaussian noise, and we obtain a provably convergent, accurate and distributed positioning algorithm that outperforms the extended Kalman filter, a standard centralized solution for this problem.

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Cláudia Soares, Pusheng Ji, João Gomes, António Pascoal. 2017-09-25. DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles. https://arxiv.org/abs/1709.08746

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