期刊
SYSTEMS & CONTROL LETTERS
卷 61, 期 7, 页码 773-779出版社
ELSEVIER
DOI: 10.1016/j.sysconle.2012.04.008
关键词
Distributed systems; Sensor networks; Noisy relative measurements; Multi-agent localization; Distributed linear estimation
资金
- Spanish Ministerio de Ciencia e Innovacion [DPI2009-08126]
- Italian Ministry of University and Research (MIUR) MEMONET National Research Project [MEC BES-2007-14772, PRIN 20087W5P2K, PRIN MEMONET]
We propose an anchorless distributed technique for estimating the centroid of a network of agents from noisy relative measurements. The positions of the agents are then obtained relative to the estimated centroid. The usual approach to multi-agent localization assumes instead that one anchor agent exists in the network, and the other agents' positions are estimated with respect to the anchor. We show that our centroid-based algorithm converges to the optimal solution, and such a centroid-based representation produces results that are more accurate than anchor-based ones, irrespective of the selected anchor. (C) 2012 Elsevier B.V. All rights reserved.
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