Single Beacon based Multi-Robot Cooperative Localisation using Moving Horizon Estimation

Sen Wang, Ling Chen, Dongbing Gu, Huosheng Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper studies three-dimensional multi-robot Cooperative Localization (CL) problem. Most of existing CL strategies adopt Extended Kalman Filter (EKF) or Maximum a Posteriori (MAP). In this paper, a novel approach based on Moving Horizon Estimation (MHE) is proposed. The main contribution of this paper is twofold: 1) MHE is integrated with EKF for three-dimensional CL using single mobile beacon, which can bound localization error, impose various constraints on states and noises, and make use of previous range measurements for current estimation. 2) A sufficient condition on observability of multi-robot CL is derived by using Fisher Information Matrix. Simulation is conducted to verify that the proposed MHE based CL algorithm outperforms EKF based method in terms of localization accuracy, and two scenarios where our algorithm is superior to EKF are discussed.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway (New Jersey)
Number of pages6
ISBN (Electronic)978-1-4799-3685-4
Publication statusPublished - 29 Sept 2014


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