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Minimization of the effect of noisy measurements on localization of multi-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 measurements are available to the agents in a globally rigid formation. It is shown that there is a relationship between different selections of anchors, agents with exactly known positions, and the error induced by measurement error on localization solution. This fact is exploited to develop a mechanism to select anchors in order to minimize the effects of...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2008.11.018


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