Decentralized Event-Triggered Cooperative Localization in Multirobot Systems Under Random Delays: With/Without Timestamps Mechanism

This article addresses the problem of the decentralized event-triggered cooperative localization (DECL) for a group of mobile robots in the presence of time delays. First, we introduce a DECL algorithm for multirobot systems under time delays. We consider two different scenarios: timestamped and non-timestamped that leads to different DECL algorithms. Then, we provide the stochastic boundedness of filtering error considering bounded random delays. We show that if the delay due to multirobot communication is sufficiently small, then by choosing proper event-triggering parameters, the filtering error and covariance remain bounded while reducing the transfer of information. Finally, simulation and experimental results using a team of four e-puck2 mobile robots demonstrate the effectiveness of the proposed algorithm.