The problem of reconstructing the geometric position of nodes in a networked formation from inter-nodal distance measurements is a complex computational task that involves the minimization of a non-convex and highly multi-modal cost criterion. In this paper, we examine three numerical techniques for attacking this problem, namely an iterative Least-Squares (LS) approach, a Trust-Region (TR) approach, and a Global Continuation (GC) technique based on iterative smoothing. The implementation details of the three methods are discussed in the paper, and extensive numerical simulations are performed in order to highlight the complementary properties of these methods in terms of required computational effort and ability to achieve global convergence.

Position estimation from relative distance measurements in multi-agents formations / Calafiore, Giuseppe Carlo; Carlone, Luca; Wei, Mingzhu. - STAMPA. - (2010), pp. 148-153. (Intervento presentato al convegno The 18th Mediterranean Conference on Control and Automation (MED’10) tenutosi a Marrakech (Morocco) nel June 23-25, 2010) [10.1109/MED.2010.5547601].

Position estimation from relative distance measurements in multi-agents formations

CALAFIORE, Giuseppe Carlo;CARLONE, LUCA;WEI, MINGZHU
2010

Abstract

The problem of reconstructing the geometric position of nodes in a networked formation from inter-nodal distance measurements is a complex computational task that involves the minimization of a non-convex and highly multi-modal cost criterion. In this paper, we examine three numerical techniques for attacking this problem, namely an iterative Least-Squares (LS) approach, a Trust-Region (TR) approach, and a Global Continuation (GC) technique based on iterative smoothing. The implementation details of the three methods are discussed in the paper, and extensive numerical simulations are performed in order to highlight the complementary properties of these methods in terms of required computational effort and ability to achieve global convergence.
2010
9781424480913
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2381228
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