マルチロボットシステムにおける時刻同期と相互位置推定の同時実行
Simultaneous Time Synchronization and Mutual Localization for Multi-robot System
ロボット間の相対姿勢推定に時刻同期を統合し、SDRを用いた同時最適化で時刻オフセットと相対姿勢を高精度に推定する手法を提案した。
著者: Xiangyong Wen, Yingjian Wang, Xi Zheng, Kaiwei Wang, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it significantly influences estimation accuracy. In this paper, we introduce time synchronization into mutual localization to recover the time offset and relative poses between robots simultaneously. Under a constant velocity assumption in a short time, we fuse time offset estimation with our previous bearing-based mutual localization by a novel error representation. Based on the error model, we formulate a joint optimization problem and utilize semi-definite relaxation (SDR) to furnish a lossless relaxation. By solving the relaxed problem, time synchronization and relative pose estimation can be achieved when time drift between robots is limited. To enhance the application range of time offset estimation, we further propose an iterative method to recover the time offset from coarse to fine. Comparisons between the proposed method and the existing ones through extensive simulation tests present prominent benefits of time synchronization on mutual localization. Moreover, real-world experiments are conducted to show the practicality and robustness.
