Distributed simultaneous localization and mapping for mobile robot networks via hybrid dynamic belief propagation

Jiuqing Wan, Shaocong Bu, Jinsong Yu and Liping Zhong

International Journal of Distributed Sensor Networks, 2017, vol. 13, issue 8, 1550147717726715

Abstract: This article proposes a hybrid dynamic belief propagation for simultaneous localization and mapping in the mobile robot network. The positions of landmarks and the poses of moving robots at each time slot are estimated simultaneously in an online and distributed manner, by fusing the odometry data of each robot and the measurements of robot–robot or robot–landmark relative distance and angle. The joint belief state of all robots and landmarks is encoded by a factor graph and the marginal posterior probability distribution of each variable is inferred by belief propagation. We show how to calculate, broadcast, and update messages between neighboring nodes in the factor graph. Specifically, we combine parametric and nonparametric techniques to tackle the problem arisen from non-Gaussian distributions and nonlinear models. Simulation and experimental results on publicly available dataset show the validity of our algorithm.

Keywords: Simultaneous localization and mapping; mobile robot networks; factor graph; belief propagation (search for similar items in EconPapers)
Date: 2017
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Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:13:y:2017:i:8:p:1550147717726715

DOI: 10.1177/1550147717726715

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