Localization of networked robot systems subject to random delay and packet loss
This work addresses localization challenges for networked mobile robots in environments with unreliable communication, representing an incremental improvement over existing methods.
The paper tackled the localization problem for networked mobile robots experiencing random communication delays and packet loss in both control inputs and observations, by developing an optimal linear estimator that incorporates delayed measurements via a relevance factor and extending it to nonlinear systems, with simulations and real experiments showing good localization results.
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot.