Reduction of self-localization errors in multi-agent autonomous formations

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

doi:10.3182/20080706-5-KR-1001.0298

Reduction of self-localization errors in multi-agent autonomous formations

Iman Shames, Baris Fidan, Brian D.O. Anderson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurement is available to the agents in a globally rigid formation. It is shown that there is a relationship between the singular values of a matrix called reduced rigidity matrix and the error induced by measurement error on localization solution. This fact is exploited to introduce an optimal selection of anchors, agents with exactly known positions, which results in a small induced error by measurement errors on localization solution. In the end, some simulation results are presented to demonstrate this optimal anchor selection in globally rigid formations.

Original language	English
Title of host publication	Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition	1 PART 1
DOIs	https://doi.org/10.3182/20080706-5-KR-1001.0298
Publication status	Published - 2008
Event	17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: 6 Jul 2008 → 11 Jul 2008

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	17
ISSN (Print)	1474-6670

Conference

Conference	17th World Congress, International Federation of Automatic Control, IFAC
Country/Territory	Korea, Republic of
City	Seoul
Period	6/07/08 → 11/07/08

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10.3182/20080706-5-KR-1001.0298

Cite this

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title = "Reduction of self-localization errors in multi-agent autonomous formations",

abstract = "This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurement is available to the agents in a globally rigid formation. It is shown that there is a relationship between the singular values of a matrix called reduced rigidity matrix and the error induced by measurement error on localization solution. This fact is exploited to introduce an optimal selection of anchors, agents with exactly known positions, which results in a small induced error by measurement errors on localization solution. In the end, some simulation results are presented to demonstrate this optimal anchor selection in globally rigid formations.",

keywords = "Coordination of multiple vehicle systems, Multi-agent systems, Sensor networks",

author = "Iman Shames and Baris Fidan and Anderson, {Brian D.O.}",

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Shames, I, Fidan, B & Anderson, BDO 2008, Reduction of self-localization errors in multi-agent autonomous formations. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 6/07/08. https://doi.org/10.3182/20080706-5-KR-1001.0298

Reduction of self-localization errors in multi-agent autonomous formations. / Shames, Iman; Fidan, Baris; Anderson, Brian D.O.
Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurement is available to the agents in a globally rigid formation. It is shown that there is a relationship between the singular values of a matrix called reduced rigidity matrix and the error induced by measurement error on localization solution. This fact is exploited to introduce an optimal selection of anchors, agents with exactly known positions, which results in a small induced error by measurement errors on localization solution. In the end, some simulation results are presented to demonstrate this optimal anchor selection in globally rigid formations.

AB - This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurement is available to the agents in a globally rigid formation. It is shown that there is a relationship between the singular values of a matrix called reduced rigidity matrix and the error induced by measurement error on localization solution. This fact is exploited to introduce an optimal selection of anchors, agents with exactly known positions, which results in a small induced error by measurement errors on localization solution. In the end, some simulation results are presented to demonstrate this optimal anchor selection in globally rigid formations.

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M3 - Conference contribution

SN - 9783902661005

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC

T2 - 17th World Congress, International Federation of Automatic Control, IFAC

Y2 - 6 July 2008 through 11 July 2008

ER -

Reduction of self-localization errors in multi-agent autonomous formations

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