Reduction of Self-localization Errors in Multi-Agent Autonomous Formations

Abstract

This paper considers the problem of reduction of self-localization errors in multiagent 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.