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Group-47

Optimal Measurement Scheduling for Cooperative Localization in Resource-constrained Conditions Capstone project of group 47

颜齐 515020910184 文怡星 515020910183

Run Main_modul.m in MATLAB to get results.

Report and its latex code are in Report folder.

Project introduction: Localization is essential for the application of multirobot systems. Due to the limitations of on-board resources, the localization algorithm must consider the trade-off between accuracy and actual costs to make the feasible implementations. In this paper, we consider the optimal measurement scheduling with respect to dynamic topology switching for a group of robots participating in cooperative localization in resource-constrained conditions. We formulate the novel topology switching problem for CL algorithm and moreover, does not assume full-observability condition for cost-down optimization goal, as opposed to previous work. Next, this problem which is proven to be combinatorial and NP-hard, can be solved approximately by efficient greedy algorithm due to its super-modularity property. Finally, the effectiveness of our proposed method is validated through simulations with real-world settings.