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Cooperative Pose Estimation in a Robotic Swarm: Framework, Simulation and Experimental Results

Zhang, Siwei and Cokona, Kimon and Pöhlmann, Robert and Staudinger, Emanuel and Wiedemann, Thomas and Dammann, Armin (2022) Cooperative Pose Estimation in a Robotic Swarm: Framework, Simulation and Experimental Results. In: 30th European Signal Processing Conference, EUSIPCO 2022 - Proceedings. EUSIPCO 2022, 29 Aug -02 Sep 2022, Belgrade, Serbia. ISBN 978-908279709-1. ISSN 2219-5491.

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Abstract

Swarm robotics has gained an increasing attention in applications like extraterrestrial exploration and disaster management, due to the ability of simultaneously observing at different locations and avoiding a single point of failure. In order to operate autonomously, robots in a swarm need to know their precise poses, including their positions, velocities and orientations. When external navigation infrastructures like the global navigation satellite systems (GNSS) are not ubiquitously accessible, the swarm of robots need to rely on internal measurements to estimate their poses. In this paper, we propose a cooperative 3D pose estimation framework, based on the insights of sensor characteristics that we gained from outdoor swarm navigation experiments. A decentralized particle filter (DPF) operates on each robot to estimate its pose via fusing radio-based ranging, inertial sensor data, control commands and the pose estimates of its neighbors. This framework is integrated in the swarm navigation ecosystem developed at the German Aerospace Center (DLR), and is unified for both simulations and experiments.

Item URL in elib:https://elib.dlr.de/188026/
Document Type:Conference or Workshop Item (Speech)
Title:Cooperative Pose Estimation in a Robotic Swarm: Framework, Simulation and Experimental Results
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Zhang, SiweiSiwei.Zhang (at) dlr.deUNSPECIFIED
Cokona, KimonKimon.Cokona (at) dlr.deUNSPECIFIED
Pöhlmann, RobertRobert.Poehlmann (at) dlr.dehttps://orcid.org/0000-0001-7362-9406
Staudinger, EmanuelEmanuel.Staudinger (at) dlr.dehttps://orcid.org/0000-0002-9601-2887
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Dammann, ArminArmin.Dammann (at) dlr.dehttps://orcid.org/0000-0002-7112-1833
Date:August 2022
Journal or Publication Title:30th European Signal Processing Conference, EUSIPCO 2022 - Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:2219-5491
ISBN:978-908279709-1
Status:Published
Keywords:ToA, DoA, Positioning, robot navigation, swarm, Ranging, Autonomous Driving, Fisher information, formation optimization, network localization
Event Title:EUSIPCO 2022
Event Location:Belgrade, Serbia
Event Type:international Conference
Event Dates:29 Aug -02 Sep 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Communication and Navigation
Deposited By: Zhang, Siwei
Deposited On:31 Aug 2022 10:27
Last Modified:24 Jan 2023 17:52

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