Secure localization method for multi-mobile robots based on network communication
US12212589B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 5, 2024 |
| Grant date | Jan 28, 2025 |
| Priority date | — |
| Expiry date | Sep 5, 2044 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W12/63
- WIPO fieldDigital communication
- WIPO sectorElectrical engineering
Abstract
A secure localization method for multi-mobile robots system based on network communication includes: Step 1, establishing a nonlinear dynamic model of a multi-mobile robots system based on network communication; Step 2, designing a secure estimator for the nonlinear dynamic model; Step 3, calculating an upper bound on a one-step prediction error covariance matrix Σi,k+1|k for each mobile robot in the network communication; Step 4, based on Σi,k+1|k, calculating an estimator gain matrix Ki,k+1 for each mobile robot in the network communication; Step 5, substituting the estimator gain matrix Ki,k+1 calculated in Step 4 into Step 2 to obtain a state estimation {circumflex over (x)}i,k+1|k+1 at time k+1; determining whether k+1 reaches a total duration M, that is, if k+1<M, performing Step 6, and if k+1=M, ending; and Step 6, based on Ki,k+1, calculating an upper bound on an estimation error covariance matrix Σi,k+1|k+1 of each mobile robot; let k=k+1, and performing Step 2 until k+1=M is satisfied.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.