Distributed multi-robot localization from acoustic pulses using Euclidean distance geometry

@inproceedings{halsted_distributed_2017,
address = {Los Angeles, CA},
title = {Distributed multi-robot localization from acoustic pulses using {Euclidean} distance geometry},
isbn = {978-1-5090-6309-3},
url = {http://ieeexplore.ieee.org/document/8250938/},
abstract = {This paper presents a method for reconstructing relative positions of a group of robots from only acoustic pulses sent and received by the robots. The approach is fully distributed—each robot calculates relative positions from its measurements alone—and does not require any additional communication between the robots outside of the acoustic pulses. The method applies concepts from Euclidean distance geometry to label each robot’s measurements, constructing ﬁrst a set of relative distances and then a set of relative positions. We also implement two practical methods for aligning a robot’s estimated set of relative positions in a global frame of reference. Due to the minimal sensing and communication requirements, this approach to multi-robot localization is appropriate for underwater applications and other environments in which traditional communication channels are limited, untrustworthy, or unavailable.},
language = {en},
urldate = {2020-09-15},
booktitle = {2017 {International} {Symposium} on {Multi}-{Robot} and {Multi}-{Agent} {Systems} ({MRS})},
publisher = {IEEE},
author = {Halsted, Trevor and Schwager, Mac},
month = dec,
year = {2017},
keywords = {localization},
pages = {104--111},
month_numeric = {12}
}