Piovan, Giulia; Shames, Iman; Fidan, Baris; Bullo, Francesco; Anderson, Brian
We develop a novel localization theory for planar networks of nodes that measure each other's relative position, i.e., we assume that nodes do not have the ability to perform measurements expressed in a common reference frame. We begin with some basic definitions of frame localizability and orientation localizability. Based on some key kinematic relationships, we characterize orientation localizability for networks with angle-of-arrival sensing. We then address the orientation localization...[Show more]
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