Localization Methods and Systems for Autonomous Systems

A localization system comprising:

• a rover cooperative including a plurality of rovers which are in communication for the purposes of sharing data to determine localization for each member of the rover cooperative, and wherein a rover is one of an autonomous vehicle (AV) and a passenger;
• an auctioneer, wherein the auctioneer is one of the plurality of rovers, the auctioneer configured to:
• announce a local pose estimation task to the rover cooperative;
• receive local pose estimation task bids from rovers of the rover cooperative meeting computation and communication capabilities required to perform the local posee estimation task;
• and
• select a winning rover bidder;
• and
• the winning rover bidder is configured to:
• perform the local pose estimation task to determine position and orientation;
• update an AV controller with information based on the performed local pose estimation or update command, and
• update the plurality of rovers in the rover cooperative with their local pose estimation or an update command.

A method for localization, the method comprising:

• selecting an auctioneer from a rover cooperative, wherein the rover cooperative includes rovers and wherein each rover is one of autonomous vehicles and passengers with location/position determinable devices which are in communication for the purposes of sharing data to determine position and orientation estimations for each member of the rover cooperative;
• announcing by the auctioneer a local pose estimation task to the rover cooperative;
• submitting local pose estimation task bids to the auctioneer by rovers meeting computation and communication capabilities to perform the local pose estimation task;
• selecting a winning rover bidder by the auctioneer;
• monitoring the progress of the winning rover bidder by the auctioneer;
• performing, by the winning rover, the local pose estimation task to determine position and orientation of each of the rovers in the rover cooperative;
• and
• updating, by the winning rover, the rovers in the rover cooperative with the rovers's determined local pose estimation or a rover specific local pose state correction.