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Sorawish Dhanapanichkul Advisor : Dr. Attawith Sudsang. Cooperative Localization using angular measures. Our problem. Localization Multi-robot localization. Our problem. Our problem. Our problem. Output A Positional pattern. Input Angular measurements. A 11 ,…,A 14. A 21 ,…,A 24. - PowerPoint PPT Presentation
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COOPERATIVE LOCALIZATION USING ANGULAR MEASURES
Sorawish DhanapanichkulAdvisor : Dr. Attawith Sudsang
Our problem
Localization
Multi-robot localization
Our problem
Our problem
Our problem Input
Angular measurements
Output A Positional pattern
Cooperative LocalizationAlgorithm
A11,…,A14 A21,…,A24
A31,…,A34 A41,…,A44
A51,…,A54
(X1,Y1)
(X2,Y2)
(X3,Y3)
(X4,Y4)
(X5,Y5)
Our problemLine Of Sight(LOS)
Introduction to problem
Unknown correspondence between measurements and robots’ ID
Introduction to problem
Matching Problem Between measurements and robots’
name
Naïve O(NN)
Proposed algorithms
Geometric based algorithm Based on triangulation Sensitive to noise
Convex optimization based algorithm Transform the problem to convex
optimization problem More flexibility
Scope
2D planar space Fully visible Include Uncertainty (measurement’s
noise)
Geometric based algorithm
Use property of convex hull Reduce matching complexity Based on triangulation
Triangulation
Example 3 robots 2 known coordinates
and 1 LOS
12
3
Triangulation : Ghost node > 3 robots (ex. 4 robots)
12
3
4
Ghost node elimination
1 more known coordinate + 2 LOSs
12
3
4
5
3 coordinates3 LOSs
Geometric based algorithm
Compute the position of 3 robots Triangulation using angular measures
of 3 robots with known position
Our matching algorithm
Convexity of LOS Graph
12
3
4
5Boundary points
Boundary lines
Define set of boundary point A boundary point
have 2 measurements which all the others reside between these two measurements
These 2 measurements are called leftmost(LM) and rightmost(RM)
RM LM <= 180 degrees
1 2
4
5
LM1
RM1
LM2
RM2
LM4RM4
LM5
RM5
Find the boundary points which connected with that reference
Choose reference point From set of boundary points By using LM and RM Set the distance between one of
them to be 1
1
(0,0)
RM1
LM5
LM2
RM5
12
5
Try to find the last LOS To find the last coordinate
12
51
Find last LOS
(0,0)
These 3 robots are forming a triangle Assuming that there are S robots
inside this triangle
1
Find last LOS
(0,0)
S
12
5
S+1Convex!!!
Example: S = 3 After sorting, compare 1st
measurement of robot 1 and 2
Find last LOS
1
(0,0)
3
12
5
Example: S = 3 After sorting, compare 2nd
measurement of robot 1 and 2
Find last LOS
1
(0,0)
3
12
5
Example: S = 3 After sorting, compare 3rd
measurement of robot 1 and 2
Find last LOS
1
(0,0)
3
12
5
Example: S = 3 After sorting, compare 4th
measurement of robot 1 and 2
Find last LOS
3+1
1
(0,0)
3
12
5
Algorithm summary
1. Use our matching algorithm to find 3 LOS
2. Calculate all intersection from 2 robots
3. Use 3rd robot’s measurements to eliminate ghost node
1
52
Time complexity : O(N2) + O(N2) + O(N2
lg(N))
Measurement noise
Due to our comparing method (opposite direction)
Change comparing method
Ghost returns
Special case
Ghost nodeEx. 6 robots
Experimental resultW
rong
rate
Number of robot
Convex optimization based algorithm
Convex optimization based algorithm Propose iterative method :: try to
minimize error Reduce problem to convex
optimization problem
Iterative method - flow
Random the answer
Update new answer by step vector
Meet termination condition
NoYes
End
Iterative method - Example
C
B
A
Actual
C
B
A
Answer0th step -Random
Iterative method - Example
C
B
A
Actual
CB
A
Answer1st step
Iterative method - Example
C
B
A
Actual
C B
A
Answer2nd step
Iterative method - Example
C
B
A
Actual
CB
A
Answer3rd step
Iterative method - Example
C
B
A
Actual
C
B
A
AnswerTermination condition
Step vector
Difference between “Sum vector” of actual and answer
Ex.
Actual Answer
0th step
C
B
AC
B
A
A A
Sum vector
A
Step vector
Example
C#
Actual Answer
Example
C#
Actual Answer
Error
Total error = Σ errorij
Mean angular error = total error / no. of input
B
A A
BerrorAB
Actual
Result
Experimental resultM
ean a
ng
ula
r err
or
(Radia
n)
Number of robot
Mathematical explanation
Compare iterative method with gradient descent
Proof of correctness
Update eqn <-> Gradient descent Update equation
Gradient descent
Optimization problem !!!
Integration of gradient
Gradient of function
After integration
Convex function
Property One lowest value Locally optimal point = Globally optimal
point
Convex!!
Proof of correctness
Rewrite the equation (no error)
Lowest value1. All robots in the result are at the same
place2. vector from robot ith to jth of the result =
vector from robot ith to jth of the real robot
Experimental resultM
ean a
ng
ula
r err
or
(Radia
n)
Number of robot
3.437 degrees
Experimental resultN
um
ber
of
itera
tion s
tep
Number of robot
Algorithm summary
Reduce problem Convex optimization
Tolerate to measurement noise
Conclusion
Summary
2 algorithms Localize group of robots using only
angular measures 1st algorithm
Reduce matching complexity 2nd algorithm
Reduce problem
Key Convexity – convex set & convex
function
Future works
Handle obstruction tested by using 2nd algorithm and seems
to work > 2D
Both algorithms can be effortlessly adopt to be used with higher dimensional environment
END
Q&A
Experimental result
Real world experiment 5 robots Using Omni-directional
camera Mean angular error =
2.31652 degrees
Our matching algorithm - flow1. Define set of boundary points2. Choose one of boundary point to be
a reference point3. Find the boundary points which
connected with that reference 4. Find last LOS
Gradient descent step bounding Depends on how good the initial
point is & the final require accuracy
Nu
mb
er
of
itera
tion
ste
p
Number of robots
Mathematical explanation
Robots’ position
Measurement without noise
Measurement with noise
Key idea
Try to find “answer” that match with input the most
System overview
Multi-robot system Equipped with omni-directional &
compass Tagged with color marker
Our problem Input
Angular measurements
Output A Positional pattern
A11,…,A14 A21,…,A24
A31,…,A34 A41,…,A44
A51,…,A54
Our problem Input
Angular measurements
Output A Positional pattern
Angular measurements from each robot
Image from Omni-directional camera
Compass
x
y
N
x
y
Our problem Input
Angular measurements
Output A Positional pattern
A11,…,A14 A21,…,A24
A31,…,A34 A41,…,A44
A51,…,A54
(X1,Y1)
(X2,Y2)
(X3,Y3)
(X4,Y4)
(X5,Y5)
Our problem Input
Angular measurements
Output A Positional pattern
Positional pattern
y
x
Key idea
C
B
x1
y1
x3
x2
y3
y2
A
x0
y0
Same reference
Key idea
C
B
x1
y1
x3
x2
y3
y2
A
x0
y0
Matching
Line of sight (LOS)
Normal of boundary
Property :: we can find a pair of nodes which connected to it.
2
5
Naïve MMM
Try all possible solution (exhaustive search)
Verify configuration > O(NN)1
23
4 2
2 1
1 1
1
2
3
Related works
Measurement
Absolute position
Range
Angular Identity
Wireless sensor network
Related works
Measurement
Absolute position
Range
Angular Identity
Multi-robot system
Our work
Measurement
Absolute position
Range
Angular Identity
Naïve
Try all possible solution (exhaustive search)
1
23
Naïve
Try all possible solution (exhaustive search)
Verify configuration > O(NN)
1
23
Elimination - Prerequisite 3 known coordinates 3 LOS
12
5
Elimination - Prerequisite 3 known coordinates 3 LOS
12
5
+ Not collinear
Elimination - Prerequisite 3 known coordinates 3 correspondences among them
12
5
Special case
3 collinear coordinates Unable to locate points which lie on this
line
12
5
Coordinates LOSs
12
5
(0,0)
1
(x2,y2)
(x5,y5)
Update equation
State vector (The answer)
Update equation
Step vector
Sum vector (actual) of ith robot
Step vector
Iterative method Minimize error in every step
Mathematical explanation of the above method Shows that this problem is convex
optimization problem
Choose one of boundary point to be reference point Choose one from set of boundary
point and set its coordinate to be (0,0)
5(0,0)