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B. Etzlinger, F. Meyer, F. Hlawatsch, A. Springer, H. Wymeersch:
"Cooperative simultaneous localization and synchronization in mobile agent networks";
IEEE Transactions on Signal Processing, 65 (2017), 14; S. 3587 - 3602.

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 opera- tion 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.

Agent network, network synchronization, cooperative localization, belief propagation, message passing, factor graph, CoSLAS.

http://dx.doi.org/10.1109/TSP.2017.2691665

http://publik.tuwien.ac.at/files/publik_266815.pdf