Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations
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Shames, Iman; Fidan, Baris; Anderson, Brian
Description
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]
Collections | ANU Research Publications |
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Date published: | 2009 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/51177 |
Source: | Automatica |
DOI: | 10.1016/j.automatica.2008.11.018 |
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01_Shames_Minimization_of_the_effect_of_2009.pdf | 909.21 kB | Adobe PDF | Request a copy |
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