000098490 001__ 98490
000098490 005__ 20240105125717.0
000098490 0247_ $$2doi$$a10.1109/TCNS.2020.2972595
000098490 0248_ $$2sideral$$a116242
000098490 037__ $$aART-2020-116242
000098490 041__ $$aeng
000098490 100__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza
000098490 245__ $$aDistributed relative localization using the multi-dimensional weighted centroid
000098490 260__ $$c2020
000098490 5060_ $$aAccess copy available to the general public$$fUnrestricted
000098490 5203_ $$aA 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.
000098490 536__ $$9info:eu-repo/grantAgreement/ES/UZ/JIUZ-2017-TEC-01$$9info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638$$9info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00$$9info:eu-repo/grantAgreement/ES/DGA/T45-17R
000098490 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000098490 590__ $$a3.502$$b2020
000098490 591__ $$aCOMPUTER SCIENCE, INFORMATION SYSTEMS$$b61 / 161 = 0.379$$c2020$$dQ2$$eT2
000098490 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b24 / 63 = 0.381$$c2020$$dQ2$$eT2
000098490 592__ $$a1.956$$b2020
000098490 593__ $$aComputer Networks and Communications$$c2020$$dQ1
000098490 593__ $$aSignal Processing$$c2020$$dQ1
000098490 593__ $$aControl and Systems Engineering$$c2020$$dQ1
000098490 593__ $$aControl and Optimization$$c2020$$dQ1
000098490 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000098490 700__ $$0(orcid)0000-0002-4669-8374$$aGonzález, Antonio$$uUniversidad de Zaragoza
000098490 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000098490 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza
000098490 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000098490 773__ $$g7, 3 (2020), 1272-1282$$tIEEE Transactions on Control of Network Systems$$x2325-5870
000098490 8564_ $$s819285$$uhttps://zaguan.unizar.es/record/98490/files/texto_completo.pdf$$yPostprint
000098490 8564_ $$s3480817$$uhttps://zaguan.unizar.es/record/98490/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000098490 909CO $$ooai:zaguan.unizar.es:98490$$particulos$$pdriver
000098490 951__ $$a2024-01-05-12:46:32
000098490 980__ $$aARTICLE