期刊
AUTOMATICA
卷 45, 期 4, 页码 1058-1065出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2008.11.018
关键词
Localization; Multi-agent systems; Sensor networks
This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurements are available to the agents in a globally rigid formation. It is shown that there is a relationship between different selections of anchors, agents with exactly known positions, and the error induced by measurement error on localization solution. This fact is exploited to develop a mechanism to select anchors in order to minimize the effects of inter-agent distance measurement errors on localization solution. Finally, some simulation results are presented to demonstrate the optimal anchor selection for a particular general class of formations, the globally rigid formations. (C) 2009 Elsevier Ltd. All rights reserved.
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