Reducing communication overhead for cooperative localization using nonparametric belief propagation

Savic, Vladimir and Zazo Bello, Santiago (2012). Reducing communication overhead for cooperative localization using nonparametric belief propagation. "IEEE Wireless Communications Letters", v. 1 (n. 4); pp. 308-311. ISSN 2162-2337. https://doi.org/10.1109/WCL.2012.042512.120172.

Description

Title: Reducing communication overhead for cooperative localization using nonparametric belief propagation
Author/s:
  • Savic, Vladimir
  • Zazo Bello, Santiago
Item Type: Article
Título de Revista/Publicación: IEEE Wireless Communications Letters
Date: August 2012
ISSN: 2162-2337
Volume: 1
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

A number of methods for cooperative localization has been proposed, but most of them provide only location estimate, without associated uncertainty. On the other hand, nonparametric belief propagation (NBP), which provides approximated posterior distributions of the location estimates, is expensive mostly because of the transmission of the particles. In this paper, we propose a novel approach to reduce communication overhead for cooperative positioning using NBP. It is based on: i) communication of the beliefs (instead of the messages), ii) approximation of the belief with Gaussian mixture of very few components, and iii) censoring. According to our simulations results, these modifications reduce significantly communication overhead while providing the estimates almost as accurate as the transmission of the particles.

More information

Item ID: 16781
DC Identifier: http://oa.upm.es/16781/
OAI Identifier: oai:oa.upm.es:16781
DOI: 10.1109/WCL.2012.042512.120172
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6191301
Deposited by: Memoria Investigacion
Deposited on: 11 Aug 2013 07:46
Last Modified: 21 Apr 2016 17:08
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