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A continuous time linear adaptive source localization algorithm robust to persistent drift

Dandach, Sandra H; Fidan, Baris; Dasgupta, Soura; Anderson, Brian


The problem of source localization has assumed increased importance in recent years. In this paper, we formulate a continuous time adaptive localization algorithm, that permits a mobile agent to estimate the location of a stationary source, using only the measured distance from the source. The algorithm is shown to be exponentially asymptotically stable, under a persistent excitation condition that has an appealing interpretation. We quantify the fact that exponential asymptotic stability...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Journal article
Source: Systems and Control Letters
DOI: 10.1016/j.sysconle.2008.07.008


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