Journal article
On frame and orientation localization for relative sensing networks
G Piovan, I Shames, B Fidan, F Bullo, BDO Anderson
Automatica | Published : 2013
Abstract
We develop a novel localization theory for networks of nodes that measure each other's bearing, i.e.; we assume that nodes do not have the ability to perform measurements expressed in a common reference frame. We begin with some basic definitions of frame localizability and orientation localizability. Based on some key kinematic relationships, we characterize orientation localizability for planar networks with angle-of-arrival sensing. We then address the orientation localization problem in the presence of noisy measurements. Our first algorithm computes a least-squares estimate of the unknown node orientations in a ring network given angle-of-arrival sensing. For arbitrary connected graphs,..
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Awarded by Australian Research Council
Funding Acknowledgements
This material was supported in part by NSF Awards CNS-0834446 and IIS-0904501. The material in this paper was presented at the 47th IEEE Conference on Decision and Control (CDC 2008), December 9-11 2008, Cancun, Mexico. This paper was recommended for publication in revised form by Associate Editor Yoshito Ohta under the direction of Editor Roberto Tempo. National ICT Australia (NICTA) is funded by the Australian Government as represented by the Department of Broadband, Communications and the Digital Economy and the Australian Research Council through the ICT Centre of Excellence program. Iman Shames was supported by the Swedish Research Council and Knut and Alice Wallenberg Foundation.