Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
698112 | Automatica | 2009 | 8 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Iman Shames, Barış Fidan, Brian D.O. Anderson,