Abstract
In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.
| Original language | English |
|---|---|
| Title of host publication | 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781467391634 |
| DOIs | |
| Publication status | Published - 2015 Nov 10 |
| Externally published | Yes |
| Event | European Conference on Mobile Robots, ECMR 2015 - Lincoln, United Kingdom Duration: 2015 Sep 2 → 2015 Sep 4 |
Other
| Other | European Conference on Mobile Robots, ECMR 2015 |
|---|---|
| Country | United Kingdom |
| City | Lincoln |
| Period | 15/9/2 → 15/9/4 |
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Keywords
- Cost function
- Mathematical model
- Noise measurement
- Robots
- Target tracking
- Time measurement
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
Cite this
Moving-horizon nonlinear least squares-based multirobot cooperative perception. / Ahmad, Aamir; Bulthoff, Heinrich.
2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7324197.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Moving-horizon nonlinear least squares-based multirobot cooperative perception
AU - Ahmad, Aamir
AU - Bulthoff, Heinrich
PY - 2015/11/10
Y1 - 2015/11/10
N2 - In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.
AB - In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.
KW - Cost function
KW - Mathematical model
KW - Noise measurement
KW - Robots
KW - Target tracking
KW - Time measurement
UR - http://www.scopus.com/inward/record.url?scp=84962257898&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84962257898&partnerID=8YFLogxK
U2 - 10.1109/ECMR.2015.7324197
DO - 10.1109/ECMR.2015.7324197
M3 - Conference contribution
SN - 9781467391634
BT - 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -