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distributed Frobenius-Norm Finite Memory Interacting Multiple Model Estimation for Mobile Robot localization

IEEE ACCESS 2022年 10卷 124193-124205页

作者： Suh, Duckhyun Lee, Dong Kyu Pak, Jung Min Ahn, Choon Ki Korea Univ Sch Elect Engn Seoul 02841 South Korea Wonkwang Univ Dept Elect Engn Iksan Si 54538 Jeollabuk Do South Korea

This paper proposes a novel state estimation algorithm, called the distributed Frobenius-norm finite memory interacting multiple model (DFFM-IMM) estimation algorithm, for mobile robot localization in wireless sensor networks (WSNs). The proposed algorithm involves finite memory estimation based on recent finite measurements;such estimation facilitates robust localization in cases of missing measurements and robot kidnapping. Furthermore, the proposed algorithm employs IMM, which facilitates accurate localization if a mobile robot abruptly changes its speed and course. Notably, average-consensus-based distributed processing renders the proposed DFFM-IMM algorithm computationally efficient, and hence, real-time processing for very short sampling times of the WSN is possible. The proposed algorithm's performance is demonstrated by comparing it with a centralized Frobenius-norm finite memory IMM (CFFM-IMM) estimation algorithm and a localization algorithm on the basis of simulations and experiments.

关键词： Location awareness Wireless sensor networks distributed processing Estimation Consensus algorithm Robot sensing systems Real-time systems distributed localization finite memory estimation interacting multiple-model mobile robot wireless sensor networks

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distributed Finite Memory Estimation From Relative Measurements for Multiple-Robot localization in Wireless Sensor Networks

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IEEE ACCESS 2022年 10卷 5980-5989页

作者： Kim, Yeong Jun Kang, Hyun Ho Lee, Sang Su Pak, Jung Min Ahn, Choon Ki Korea Univ Sch Elect Engn Seoul 02841 South Korea Wonkwang Univ Dept Elect Engn Iksan Si 54538 Jeollabuk Do South Korea

Mobile robot localizations have been extensively studied, and various algorithms for multiple-robot localization have been developed. However, existing methods for multiple-robot localization often exhibit poor performance under harsh conditions, such as missing measurements and sudden appearance of obstacles. To overcome this problem, this paper proposes a novel method for multiple-robot localization in wireless sensor networks. The proposed method is theoretically based on the finite memory estimation and utilizes relative distance and angle measurements between robots. Thus, the proposed method is referred to as distributed finite memory estimation from relative measurements (DFMERM). Due to the finite memory structure, the DFMERM has inherent robustness against computational and modeling errors. Moreover, the novel distributed localization method using relative measurements shows the robustness against missing measurements. Robust DFMERM localization performance is experimentally demonstrated using multiple mobile robots under the harsh conditions.

关键词： Robot sensing systems Location awareness Estimation Mobile robots Wireless sensor networks Robustness Noise measurement distributed localization finite memory estimation mobile robot relative measurements wireless sensor networks

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Angle-Based distributed Node Localizability and localization

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第3期69卷 1890-1897页

作者： Chen, Liangming Lin, Zhiyun Xie, Lihua Southern Univ Sci & Technol Ctr Control Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Syst Shenzhen 518055 Peoples R China PengCheng Lab Shenzhen 518066 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

To determine the positions of free nodes in a wireless sensor network, angle-based localization approaches have been recently proposed. However, the existing angle-only localizability conditions are for the whole network, for which the existence of only one unlocalizable node implies that the whole network is unlocalizable. To efficiently obtain specific information on the free nodes' localizability, this article proposes to check each node's localizability in a distributed manner. First, we propose an algebraic condition for node localizability, based on which a distributed node localizability checking algorithm is proposed. Then, a strategy on adding triangular angle measurements to those unlocalizable nodes is proposed, under which an unlocalizable network can become localizable. Finally, by using the local information of each node's triangle degree in the network, a fully distributed localization algorithm is designed, which does not require any globally graphic information or additional internode communication. Simulation examples are provided to validate the results.

关键词： Angle measurements distributed localization node localizability triangular network wireless sensor network

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distributed Push-pull Estimation for node localization in wireless sensor networks

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JOURNAL OF PARALLEL AND distributed COMPUTING 2011年第3期71卷 471-484页

作者： Dang, Viet-Hung Le, Viet-Duc Lee, Young-Koo Lee, Sungyoung Kyung Hee Univ Dept Comp Engn Yongin 446701 Gyeonggi Do South Korea

A great deal of research achievements on localization in wireless sensor networks (WSNs) has been obtained in recent years. Nevertheless, its interesting challenges in terms of cost-reduction, accuracy improvement, scalability, and distributed ability design have led to the development of a new algorithm, the Push-pull Estimation (PPE). In this algorithm, the differences between measurements and current calculated distances are modeled into forces, dragging the nodes close to their actual positions. Based on very few known-location sensors or beacons, PPE can pervasively estimate the coordinates of many unknown-location sensors. Each unknown-location sensor, with given pair-wise distances, could independently estimate its own position through remarkably uncomplicated calculations. Characteristics of the algorithm are examined through analyses and simulations to demonstrate that it has advantages over those of previous works in dealing with the above challenges. (C) 2010 Elsevier Inc. All rights reserved.

关键词： distributed localization Push-pull Estimation Virtual force

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A Geometric Approach for distributed Multi-Hop Target localization in Cooperative Networks

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2020年第1期69卷 914-919页

作者： Tomic, Slavisa Beko, Marko Univ Lusofona Humanidades & Tecnol COPELABS P-1749024 Lisbon Portugal Uninova Inst Desenvolvimento Novas Tecnol P-2829516 Caparica Portugal

This work addresses target localization problem in cooperative distributed sensor networks, in which all sensors are capable of measuring Received Signal Strength (RSS), but only some are appropriately equipped to measure Angle Of Arrival (AOA) of the received signal. A novel approach based on simple geometry and multi-hopping is proposed, which allows for natural conversion of the problem into a Generalized Trust Region Sub-Problem (GTRS). The proposed algorithm comprises three main steps, each of them with linear computational cost in the number of neighbors, making it suitable for real-time applications. Our simulation results validate the performance of the new algorithm, surpassing some significantly more complex ones, and almost achieving a lower bound set by an existing algorithm which uses some (unrealistic) assumptions in its favor.

关键词： distributed localization received signal strength (RSS) angle of arrival (AOA) weighted central mass (WCM) generalized trust region sub-problem (GTRS)

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A Robot Web for distributed Many-Device localization

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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 121-138页

作者： Murai, Riku Ortiz, Joseph Saeedi, Sajad Kelly, Paul H. J. Davison, Andrew J. Imperial Coll London Dept Comp London SW7 2BX England Toronto Metropolitan Univ Dept Mech & Ind Engn Toronto ON M5B 2K3 Canada

We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localize via efficient ad hoc peer-to-peer communication. Our Robot Web solution is based on Gaussian belief propagation (GBP) on the fundamental nonlinear factor graph describing the probabilistic structure of all of the observations robots make internally or of each other, and is flexible for any type of robot, motion or sensor. We define a simple and efficient communication protocol which can be implemented by the publishing and reading of web pages or other asynchronous communication technologies. We show in simulations with up to 1000 robots interacting in arbitrary patterns that our solution convergently achieves global accuracy as accurate as a centralized nonlinear factor graph solver while operating with high distributed efficiency of computation and communication. Via the use of robust factors in GBP, our method is tolerant to a high percentage of faulty sensor measurements or dropped communication packets. Furthermore, we showcase that the system operates on real robots with limited onboard computational resources.

关键词： distributed localization distributed robotics systems

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distributed TDMA for Mobile UWB Network localization

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IEEE INTERNET OF THINGS JOURNAL 2021年第17期8卷 13449-13464页

作者： Cao, Yanjun Chen, Chao St-Onge, David Beltrame, Giovanni Polytech Montreal Dept Comp & Software Engn Montreal PQ H3T 1J4 Canada Zhejiang Univ Huzhou Inst Huzhou 313000 Peoples R China Natl Chiao Tung Univ Inst Network Engn Hsinchu 30010 Taiwan Ecole Technol Super Dept Mech Engn Montreal PQ H3C 1K3 Canada

Many applications related to the Internet of Things, such as tracking people or objects, robotics, and monitoring require the localization of large networks of devices in dynamic, GPS-denied environments. Ultrawideband (UWB) technology is a common choice because of its precise ranging capability. However, allowing access and effective use of the shared UWB medium with a constantly changing set of devices faces some particular challenges: high frequency of ranging measurements by the devices to improve system accuracy;network topology changes requiring rapid adaptation;and decentralized operation to avoid single points of failure. In this article, we propose a novel time-division multiple access (TDMA) algorithm that can quickly schedule the use of the UWB medium by a large network of devices without collisions in local network neighborhoods and avoiding conflicts with hidden terminals, all the while maximizing network usage. Using exclusively the UWB radio network, we realize a decentralized system for synchronization, dynamic TDMA scheduling, and precise relative positioning on a multihop network. Our system does not have special nodes (all nodes are equal) and it is sufficiently scalable for real-world applications. Our method can be applied to implement device localization services in large spaces without GPS and complex topologies, such as malls, museums, mines, etc. We demonstrate our method in simulation and on real hardware in an underground parking lot, showing the effectiveness of its TDMA schedule for relative localization.

关键词： Location awareness Time division multiple access Distance measurement Heuristic algorithms Network topology Scalability Internet of Things distributed localization mobile ad hoc network (MANET) multihop network time-division multiple access (TDMA) ultrawideband (UWB)

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Secure Event-Triggered distributed Finite-Memory localization for Multiple Mobile Robots Under Cyberattacks

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第10期71卷 12931-12941页

作者： Ko, Ju Yeon Pak, Jung Min Kim, Dong Hyeon Ahn, Choon Ki Korea Univ Sch Elect Engn Seoul 02841 South Korea Korea Natl Univ Transportat Dept Artificial Intelligence Uiwang 16106 South Korea

This study proposes a novel event-triggered localization algorithm, based on finite-memory estimators (FMEs), which is robust against cyberattacks. A group of mobile robots was controlled by an operating system located at a remote site. Each robot transmitted measurement information to the operating system through wireless communication, where event-triggered transmission was adopted to save communication resources. The proposed FME-based novel event-triggering mechanism performed triggering effectively by predicting the performance of the remote localization system. Cyberattacks, such as denial of service and deception attacks, may occur and disturb the transmission of measurement information. To address this, we propose a secure localization algorithm by deriving a new FME using the Frobenius norm method, with the measurement model reflecting the effect of cyberattacks. The resulting algorithm, called secure event-triggered distributed finite-memory localization, is more robust against cyberattacks than existing algorithms. The algorithm's performance was demonstrated by comparing it with two existing event-triggered distributed localization algorithms, under the condition with/without cyberattacks, through experiments.

关键词： Cyberattack distributed localization event-triggered estimation finite-memory estimator (FME) multiple-robot localization

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distributed Maximum Likelihood Sensor Network localization

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2014年第6期62卷 1424-1437页

作者： Simonetto, Andrea Leus, Geert Delft Univ Technol Fac Elect Engn Math & Comp Sci NL-2826 CD Delft Netherlands

We propose a class of convex relaxations to solve the sensor network localization problem, based on a maximum likelihood (ML) formulation. This class, as well as the tightness of the relaxations, depends on the noise probability density function (PDF) of the collected measurements. We derive a computational efficient edge-based version of this ML convex relaxation class and we design a distributed algorithm that enables the sensor nodes to solve these edge-based convex programs locally by communicating only with their close neighbors. This algorithm relies on the alternating direction method of multipliers (ADMM), it converges to the centralized solution, it can run asynchronously, and it is computation error-resilient. Finally, we compare our proposed distributed scheme with other available methods, both analytically and numerically, and we argue the added value of ADMM, especially for large-scale networks.

关键词： distributed optimization convex relaxations sensor network localization distributed algorithms ADMM distributed localization sensor networks maximum likelihood

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Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions

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AUTOMATICA 2016年 69卷 334-341页

作者： Zhao, Shiyu Zelazo, Daniel Univ Calif Riverside Dept Mech Engn Riverside CA 92521 USA Technion Israel Inst Technol Fac Aerosp Engn IL-32000 Haifa Israel

This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference frame. The contributions of the paper are twofold. Firstly, we propose necessary and sufficient conditions for network localizability with both algebraic and rigidity theoretic interpretations. Secondly, we propose and analyze a linear distributed protocol for bearing-based network localization. One novelty of our work is that the localizability analysis and localization protocol are applicable to networks in arbitrary dimensional spaces. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Sensor network Network localizability distributed localization Bearing rigidity Bearing Laplacian

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