# Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks

arXiv: https://arxiv.org/abs/1611.01985 · HTML: https://mlsanity.com/paper/1611.01985/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Nov 2016.

## Built on by (most cited first, 1 of 1)

- [DNN-assisted Particle-based Bayesian Joint Synchronization and Localization](https://mlsanity.com/paper/2110.02771/) (2021)

## Abstract (arXiv)

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm allows for real-time operation and is suitable for a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.