期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 30, 期 2, 页码 524-531出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2013.2291621
关键词
Consensus; distributed randomized algorithms; gossip; multiagent systems; sensor network localization
类别
资金
- European Union [257462 HYCON2]
- Italian Grant FIRB Futuro in Ricerca, project NECTAR Networked Collaborative Team of Autonomous Robots [RBFR08QWUV]
- Italian Ministry of Research and Education
In this study, the decentralized common reference frame estimation problem for multiagent systems in the absence of any common coordinate system is investigated. Each agent is deployed in a 2-D space and can only measure the relative distance of neighboring agents and the angle of their line of sight in its local reference frame; no relative attitude measurement is available. Only asynchronous and random pairwise communications are allowed between neighboring agents. The convergence properties of the proposed algorithm are characterized, and its sensitiveness against additive noise on the relative distance measurements is investigated. An experimental validation of the effectiveness of the proposed algorithm is provided.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据