Factor graph based navigation and positioning for control system design: A review

Navigation and positioning is an important and challenging problem in many control engineering applications. It provides feedback information to design controllers for systems. In this paper, a bibliographical review on factor graph based navigation and positioning is presented. More specifically, the sensor modeling, the factor graph optimization methods, and the topology factor based cooperative localization are reviewed. The navigation and positioning methods via factor graph are considered and classified. Focuses in the current research of factor graph based navigation and positioning are also discussed with emphasis on its practical application. The limitations of the existing methods, some solutions for future techniques, and recommendations are finally given.