98490 20240105125717.0 doi 10.1109/TCNS.2020.2972595 sideral 116242 ART-2020-116242 eng Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Distributed relative localization using the multi-dimensional weighted centroid 2020 Access copy available to the general public Unrestricted 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. info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 info:eu-repo/grantAgreement/ES/UZ/JIUZ-2017-TEC-01 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 3.502 2020 COMPUTER SCIENCE, INFORMATION SYSTEMS 61 / 161 = 0.379 2020 Q2 T2 AUTOMATION & CONTROL SYSTEMS 24 / 63 = 0.381 2020 Q2 T2 1.956 2020 Computer Networks and Communications 2020 Q1 Signal Processing 2020 Q1 Control and Systems Engineering 2020 Q1 Control and Optimization 2020 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion González, Antonio Universidad de Zaragoza (orcid)0000-0002-4669-8374 López-Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 7, 3 (2020), 1272-1282 IEEE Transactions on Control of Network Systems 2325-5870 819285 http://zaguan.unizar.es/record/98490/files/texto_completo.pdf Postprint 3480817 http://zaguan.unizar.es/record/98490/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:98490 articulos driver 2024-01-05-12:46:32 ARTICLE