Distributed relative localization using the multi-dimensional weighted centroid

Aragüés, Rosario (Universidad de Zaragoza) ; González, Antonio (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: A key problem in multi-agent systems is the distributed estimation of the localization of agents in a common reference from relative measurements. Estimations can be referred to an anchor node or, as we do here, referred to the weighted centroid of the multi-agent system. We propose a Jacobi Over—Relaxation method for distributed estimation of the weighted centroid of the multi-agent system from noisy relative measurements. Contrary to previous approaches, we consider relative multidimensional measurements with general covariance matrices not necessarily diagonal. We prove our weighted centroid method converges faster than anchor-based solutions. We also analyze the method convergence and provide mathematical constraints that ensure avoiding ringing phenomena.

Idioma: Inglés

DOI: 10.1109/TCNS.2020.2972595

Año: 2020

Publicado en: IEEE Transactions on Control of Network Systems 7, 3 (2020), 1272-1282
ISSN: 2325-5870

Factor impacto JCR: 3.502 (2020)

Categ. JCR: COMPUTER SCIENCE, INFORMATION SYSTEMS rank: 61 / 161 = 0.379 (2020) - Q2 - T2
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 24 / 63 = 0.381 (2020) - Q2 - T2

Factor impacto SCIMAGO: 1.956 - Computer Networks and Communications (Q1) - Signal Processing (Q1) - Control and Systems Engineering (Q1) - Control and Optimization (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-17R
Financiación: info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00
Financiación: info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638
Financiación: info:eu-repo/grantAgreement/ES/UZ/JIUZ-2017-TEC-01

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)