کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
698112 | 890393 | 2009 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 45, Issue 4, April 2009, Pages 1058–1065
Journal: Automatica - Volume 45, Issue 4, April 2009, Pages 1058–1065
نویسندگان
Iman Shames, Barış Fidan, Brian D.O. Anderson,