Publication: Distributed Collaborative State Estimat...
Master data
Title: | Distributed Collaborative State Estimation: Joint Observations forReliable Autonomous Navigation in Swarms |
Subtitle: | |
Abstract: | This paper emphasis the role of Collaborative State Estimation (CSE) for reliable navigation and sensing in heterogeneous swarms of communicating robots. By using a state-of-the-art CSE algorithm, communication and maintenance of interdependencies is mainly needed for the moment of joint observations, while the credibility and performance of the distributed estimators remain closely to the statistically optimal centralized solution. In simulation we demonstrate the concept of sensor sharing to improve the localization accuracy and sensor relaying in case of sensor failure in an exploration scenario, rendering CSE as a key for reliable sensing in swarms of communicating robots. |
Keywords: | Collaborative State Estimation, Sensor Fusion, Multi-robot Systems |
Publication type: | Article in Proceedings (Authorship) |
Publication date: | 30.06.2021 (Online) |
Published by: |
Proceedings of the Austrian Robotics Workshop
Proceedings of the Austrian Robotics Workshop
(
Verlag der Technischen Universität Graz;
P. Roth, A. Pichler, R. Sablatnig, G. Stübl, M. Vincze
)
to publication |
Title of the series: | Proceedings of the Austrian Robotics Workshop 2021 |
Volume number: | - |
First publication: | Yes |
Version: | - |
Page: | pp. 64 - 68 |
Versionen
Keine Version vorhanden |
Publication date: | 30.06.2021 |
ISBN (e-book): |
|
eISSN: | - |
DOI: | - |
Homepage: | https://www.roboticsworkshop.at |
Open access |
|
Assignment
Organisation | Address | ||||
---|---|---|---|---|---|
Universität Klagenfurt
Karl Popper Kolleg (Doktorats- und Wissenschaftskolleg)
|
AT - A-9020 Klagenfurt |
||||
Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
|
AT - 9020 Klagenfurt am Wörthersee |
Categorisation
Subject areas | |
Research Cluster |
|
Peer reviewed |
|
Publication focus |
Classification raster of the assigned organisational units:
|
working groups |
|
Cooperations
No partner organisations selected
Research activities
All related research activities to this publication are shown here. With the link below, you can view them in the search view where you are also able to export them.
Show related search activities in search
Projects: | No related projects |
Publications: | No related publications |
Events: | No related events |
Lectures: | No related lectures |
Articles of the publication
No related publications