A Connectivity-Prediction Algorithm and its Application in Active Cooperative Localization for Multi-Robot Systems
Liang Zhang,Zexu Zhang,Roland Siegwart,Jen Jen Chung,Liang Zhang,Zexu Zhang,Roland Siegwart,Jen Jen Chung
This paper presents a method for predicting the probability of future connectivity between mobile robots with range-limited communication. In particular, we focus on its application to active motion planning for cooperative localization (CL). The probability of connection is modeled by the distribution of quadratic forms in random normal variables and is computed by the infinite power series expan...
