We propose an anchorless distributed technique for estimating the centroid of a network of agents from noisyrelativemeasurements. 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.
Titolo: | Distributed Centroid Estimation from Noisy Relative Measurements |
Autori: | |
Data di pubblicazione: | 2012 |
Rivista: | |
Digital Object Identifier (DOI): | 10.1016/j.sysconle.2012.04.008 |
Appare nelle tipologie: | 1.1 Articolo in rivista |
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distributed centroid estimation_SCL.pdf | 2. Post-print | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
Utilizza questo identificativo per citare o creare un link a questo documento:
http://hdl.handle.net/11583/2484597
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