Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations

Iman Shames; Bariş Fidan; Brian D.O. Anderson

doi:10.1016/j.automatica.2008.11.018

Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations

Iman Shames^*, Bariş Fidan, Brian D.O. Anderson

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

37 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	1058-1065
Number of pages	8
Journal	Automatica
Volume	45
Issue number	4
DOIs	https://doi.org/10.1016/j.automatica.2008.11.018
Publication status	Published - Apr 2009

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10.1016/j.automatica.2008.11.018

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abstract = "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.",

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AB - 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.

KW - Localization

KW - Multi-agent systems

KW - Sensor networks

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JO - Automatica

JF - Automatica

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ER -

Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations

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