Simultaneous localization and synchronization (SLAS) for multiple agents, with a nice state of the art including both SLAS for individual and multiple agents

B. Etzlinger, F. Meyer, F. Hlawatsch, A. Springer and H. Wymeersch, “Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks,” in IEEE Transactions on Signal Processing, vol. 65, no. 14, pp. 3587-3602, July15, 15 2017. DOI: 10.1109/TSP.2017.2691665.

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm is compatible with real-time operation and a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.

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