Reduction of Self-localization Errors in Mutli-Agent Autonomous Formations
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]
|Collections||ANU Research Publications|
|Source:||Proceedings of International Federation of Automatic Control World Congress (SYSID 2008)|
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