Decentralized Localization in Homogeneous Swarms Considering Real-World Non-Idealities

Hanlin Wang; Michael Rubenstein

doi:10.1109/LRA.2021.3095032

Decentralized Localization in Homogeneous Swarms Considering Real-World Non-Idealities

Hanlin Wang^*, Michael Rubenstein

^*Corresponding author for this work

Computer Science

Research output: Contribution to journal › Article › peer-review

Abstract

This letter presents a decentralized algorithm that allows a swarm of identically programmed agents to cooperatively estimate their global poses using local range and bearing measurements. The design of our algorithm explicitly considers the phase asynchrony of each agent's local clock, moreover, the execution of our algorithm does not require each agent to actively keep the same neighbors over time. A theoretical analysis about the effect of each agent's sensing noise and communication loss is given, in addition, we validate the presented algorithm via experiments running on a swarm of up to 256 simulated robots and a swarm of 100 physical robots. The results from the experiments show that the presented algorithm allows each agent to estimate its global pose quickly and reliably. Video of 100 robots executing the presented algorithm as well as supplementary material can be found in [1] and [2].

Original language	English (US)
Article number	9477160
Pages (from-to)	6765-6772
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2021.3095032
State	Published - Oct 2021

Funding

Manuscript received February 24, 2021; accepted June 23, 2021. Date of publication July 7, 2021; date of current version July 22, 2021. This letter was recommended for publication by Associate Editor M. Ani Hsieh and Editor A. Prorok upon evaluation of the Reviewers’ comments. This work was supported by the National Science Foundation under Grant CMMI-2024774. (Corresponding author: Hanlin Wang.) Hanlin Wang is with the Department of Computer Science, North-western University, Evanston, IL 60601 USA (e-mail: hanlinwang2015@ u.northwestern.edu).

Keywords

Swarms
distributed robot systems
sensor networks

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2021.3095032

Cite this

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title = "Decentralized Localization in Homogeneous Swarms Considering Real-World Non-Idealities",

abstract = "This letter presents a decentralized algorithm that allows a swarm of identically programmed agents to cooperatively estimate their global poses using local range and bearing measurements. The design of our algorithm explicitly considers the phase asynchrony of each agent's local clock, moreover, the execution of our algorithm does not require each agent to actively keep the same neighbors over time. A theoretical analysis about the effect of each agent's sensing noise and communication loss is given, in addition, we validate the presented algorithm via experiments running on a swarm of up to 256 simulated robots and a swarm of 100 physical robots. The results from the experiments show that the presented algorithm allows each agent to estimate its global pose quickly and reliably. Video of 100 robots executing the presented algorithm as well as supplementary material can be found in [1] and [2].",

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Decentralized Localization in Homogeneous Swarms Considering Real-World Non-Idealities

Abstract

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Keywords

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