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A Scalable Framework For Map Matching Based Cooperative Localization, Chizhao Yang, Jared Strader, Yu Gu
A Scalable Framework For Map Matching Based Cooperative Localization, Chizhao Yang, Jared Strader, Yu Gu
Faculty & Staff Scholarship
Localization based on scalar field map matching (e.g., using gravity anomaly, magnetic anomaly, topographics, or olfaction maps) is a potential solution for navigating in Global Navigation Satellite System (GNSS)-denied environments. In this paper, a scalable framework is presented for cooperatively localizing a group of agents based on map matching given a prior map modeling the scalar field. In order to satisfy the communication constraints, each agent in the group is assigned to different subgroups. A locally centralized cooperative localization method is performed in each subgroup to estimate the poses and covariances of all agents inside the subgroup. Each agent in …