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Distributed localization via barycentric coordinates: Finite-time convergence
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2011 (English)In: IFAC Proceedings Volumes: (IFAC-PapersOnline), 2011, no PART 1, 7824-7829 p.Conference paper (Refereed)
Abstract [en]

We consider distributed localization in a sensor network in ℝ 2 from inter-agent distances. Sensors and anchors exchange data with their neighbors. No centralized data processing is required. We establish a differential equation for the unknown sensor positions, and show that the estimated positions of sensors converge to their actual values in finite time (assuming noise-free measurements). The key assumption is that all sensors are in the convex hull of three or more anchors. The proposed localization method uses the barycentric coordinates of each sensor with respect to some of its neighbors (which may not include those anchors), assuming the sensor falls in the convex hull of these neighbors.

Place, publisher, year, edition, pages
2011. no PART 1, 7824-7829 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; Vol. 18: Issue PART 1
Keyword [en]
Finite-time convergence, Localization, Multi-agent systems, Multi-vehicle systems, Networks of robots and intelligent sensors, Sensor networks, Intelligent sensors, Multi agent system (MAS), Computational geometry, Data processing, Differential equations, Multi agent systems, Computational mechanics
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-149771DOI: 10.3182/20110828-6-IT-1002.02448ScopusID: 2-s2.0-84866749142ISBN: 9783902661937OAI: diva2:742971
18th IFAC World Congress; Milano, Italy, 28 August - 2 September, 2011

QC 20140903

Available from: 2014-09-03 Created: 2014-08-27 Last updated: 2014-10-03Bibliographically approved

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Shames, Iman
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Automatic ControlACCESS Linnaeus Centre
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