Abstract: Collaborative localization is a special case for knowledge fusion where information is exchanged in order to attain improved global and local knowledge. We propose analytical as well as agent based simulation models for pedestrian dead reckoning (PDR) systems in agents collaborating to improve their location estimate by exchanging subjective position information when two agents are detected close to each other. The basis of improvement is the fact that two agents are at approximately the same position when they meet, and this can be used to update local position information. In analytical models we find that the localization error remains asymptotically finite in infinite systems or when there is at least one immobile agent (i.e. an agent with a zero localization error) in the system. In the agent model we tested finite systems under realistic (that is, inexact) meeting conditions and tested localization errors as function of several parameters. We found that a large finite system comprising hundreds of users is capable of collaborative localization with an essentially constant error under various conditions. The presented models can be used for predicting the improvement in localization that can be achieved by a collaboration among several mobile computers. Besides, our results can be considered as first steps toward a more general collaborative (incremental) form of knowledge fusion.

Citation: Kampis, G., Kantelhardt, J.W, Kloch, K., and Lukowicz, P. (2014): Analytical and Simulation Models for Collaborative Localization, J. Computational Science 6 (2015) 1–10.

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Abstract: Collaborative localization is the computation of improved spatial coordinates in mobile agents based on their physical meetings in a pedestrian dead reckoning (PDR) system. Upon meeting the agents can exchange information about their subjective position and update it based on a simple algorithm. We show in a simulation model that the localization error diverges unless this algorithm is introduced in which case it remains bounded. We consider collaborative localization as an example of broader incremental knowledge fusion and discuss its various implications such as the importance of well-informed agents.

Citation: Kampis, G. and Lukowicz, P. (2014): Collaborative Localization as a Paradigm for Incremental Knowledge Fusion, 5th IEEE CogInfoCom 2014 Conference

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