Title :
Cooperative localization with information-seeking control
Author :
Meyer, Florian ; Wymeersch, Henk ; Hlawatsch, Franz
Author_Institution :
Inst. of Telecommun., Vienna Univ. of Technol., Vienna, Austria
Abstract :
We propose a Bayesian method for cooperative localization and control in mobile agent networks. Distributed, cooperative self-localization of each agent is supported by an information-seeking control of the movement of the agents. For cooperative localization, the SPAWN message passing scheme is used. Cooperative control is achieved by maximizing the negative joint posterior entropy of the agent states via a gradient ascent. The localization part of our method provides the control part with sample-based probabilistic information. Simulation results demonstrate intelligent behavior of the agents and excellent localization accuracy.
Keywords :
belief networks; message passing; mobile agents; probability; Bayesian method; SPAWN message passing scheme; distributed cooperative self-localization; information-seeking control; mobile agent networks; negative joint posterior entropy; sample-based probabilistic information; Estimation; Floods; Integrated circuits; Joints; Wireless communication; Wires; Agent networks; belief propagation; cooperative localization; distributed estimation; information-seeking control;
Conference_Titel :
Acoustics, Speech and Signal Processing (ICASSP), 2015 IEEE International Conference on
Conference_Location :
South Brisbane, QLD
DOI :
10.1109/ICASSP.2015.7178492