Multi-Sensor Fusion for Decentralized GPS-Denied Robotic Swarm Cooperative Navigation
Vincent W. Hill, Jordan D. Larson · AIAA SCITECH 2023 Forum · 2023
View Video Presentation: https://doi.org/10.2514/6.2023-0110.vid —This work presents a cooperative navigation technique for autonomous robotic swarms in a GPS-denied environment using a random finite set-based sensor fusion technique. Swarm agents collect 2D range and bearing measurements, compute their local random finite set multi-object tracking filter solution, and broadcast the result to allies. These solutions are then processed with a multiple field of view sensor fusion algorithm to extract the fusion agent’s position estimate in the global coordinate system.