This paper regards the relative localization problem in sensor networks. We study a randomized algorithm, which is based on input-driven consensus dynamics and involves pairwise “gossip” communications and updates. Due to the randomness of the updates, the state of this algorithm ergodically oscillates around a limit value. Exploiting the ergodicity of the dynamics, we show that the time-average of the state almost surely converges to the least-squares solution of the localization problem. Remarkably, the computation of the time-average does not require the sensors to share any common clock. Hence, the proposed algorithm is fully distributed and asynchronous.

Almost sure convergence of a randomized algorithm for relative localization in sensor networks / Ravazzi, Chiara; Frasca, Paolo; Tempo, R.; Ishii, H.. - ELETTRONICO. - (2013), pp. 4778-4783. ((Intervento presentato al convegno IEEE 52nd Annual Conference on Decision and Control (CDC), 2013 tenutosi a Firenze nel 10-13 Dec. 2013 [10.1109/CDC.2013.6760638].

Almost sure convergence of a randomized algorithm for relative localization in sensor networks

RAVAZZI, CHIARA;FRASCA, PAOLO;
2013

Abstract

This paper regards the relative localization problem in sensor networks. We study a randomized algorithm, which is based on input-driven consensus dynamics and involves pairwise “gossip” communications and updates. Due to the randomness of the updates, the state of this algorithm ergodically oscillates around a limit value. Exploiting the ergodicity of the dynamics, we show that the time-average of the state almost surely converges to the least-squares solution of the localization problem. Remarkably, the computation of the time-average does not require the sensors to share any common clock. Hence, the proposed algorithm is fully distributed and asynchronous.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2549138
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