Event - Triggered Multirobot Cooperative Localization Based on Unscented Kalman Filter

Abstract

This paper studies the multirobot cooperative localization problem under resource-constrained scenarios, such as the limited communication bandwidth and battery capacity. Multirobot cooperative localization heavily relies on inter-robot communication, and it is challenging to ensure high localization accuracy when the communication bandwidth is constrained. To deal with this issue, a new distributed event-triggered unscented Kalman filter cooperative localization (ETUKF CL) approach is proposed in this paper, where an event-triggered mechanism is introduced to reduce the communication and energy cost. The proposed algorithm significantly reduces communication resource consumption while maintaining high positioning accuracy. Simulation results demonstrate the effectiveness of the proposed cooperative localization algorithm.