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Particle-based message compression for cooperative localization
Publikationstyp
Conference Paper
Publikationsdatum
2016-09
Sprache
English
Author
Institut
TORE-URI
Start Page
1
End Page
5
Article Number
7881147
Citation
IEEE 84th Vehicular Technology Conference VTC Fall 2016: 7881147, 1-5 (2016)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
We propose a novel message compression scheme for distributed nonparametric belief propagation in the context of cooperative localization. The messages to be exchanged in nonparametric belief propagation are given as particle representations. Communication constraints on the links make the transmission of entire particle representations prohibitive and require compressed (approximated) messages. We tackle the problem of compressing messages in an information-theoretic manner. For that reason, we define a relevant random variable and consider the mutual information shared with it for particle selection. We show that the shared mutual information depends on the choice of the particles. We propose a particle-based message compression algorithm that flexibly trades localization accuracy for communications, i.e. we incorporate a scalar parameter to adjust the degree of compression. We show that the proposed message compression method outperforms its parametrized counterpart in terms of localization accuracy for a well-chosen degree of compression, but comes at the expense of somewhat increased communications.
DDC Class
620: Ingenieurwissenschaften