Elsevier

IFAC Proceedings Volumes

Volume 44, Issue 1, January 2011, Pages 7824-7829
IFAC Proceedings Volumes

Distributed Localization Via Barycentric Coordinates: Finite-Time Convergence*

https://doi.org/10.3182/20110828-6-IT-1002.02448Get rights and content

Abstract

We consider distributed localization in a sensor network in R2from inter-agent distances. Sensors and anchors exchange data with their neighbors. No centralized data processing is required. We establish a differential equation for the unknown sensor positions, and show that the estimated positions of sensors converge to their actual values in finite time (assuming noise-free measurements). The key assumption is that all sensors are in the convex hull of three or more anchors. The proposed localization method uses the barycentric coordinates of each sensor with respect to some of its neighbors (which may not include those anchors), assuming the sensor falls in the convex hull of these neighbors.

Keywords

Localization
Multi-agent systems
Sensor networks
Networks of robots and intelligent sensors
Multi-vehicle systems
Finite-time convergence

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*

This work is supported by the Swedish Research Council and Knut and Alice Wallenberg Foundation, NSF grants CCF:101-1903 and CCF:101-8509 and AFOSR grant FA 9550 101 0291, and NICTA, which 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.

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