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Reduction of Self-localization Errors in Mutli-Agent Autonomous Formations

Shames, Iman; Fidan, Baris; Anderson, Brian


This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurement is available to the agents in a globally rigid formation. It is shown that there is a relationship between the singular values of a matrix called reduced rigidity matrix and the error induced by measurement error on localization solution. This fact is exploited to introduce an optimal selection of anchors, agents with exactly known positions, which...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of International Federation of Automatic Control World Congress (SYSID 2008)
DOI: 10.3182/20080706-5-KR-1001.0298


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