Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions
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Publication:286331
DOI10.1016/J.AUTOMATICA.2016.03.010zbMATH Open1338.93047arXiv1502.00154OpenAlexW2963196424WikidataQ57719015 ScholiaQ57719015MaRDI QIDQ286331FDOQ286331
Publication date: 20 May 2016
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference frame. The contributions of the paper are twofold. Firstly, we propose necessary and sufficient conditions for network localizability with both algebraic and rigidity theoretic interpretations. The analysis of the localizability heavily relies on the recently developed bearing rigidity theory and a special matrix termed the bearing Laplacian. Secondly, we propose a linear distributed protocol for bearing-based network localization. The protocol can globally localize a network if and only if the network is localizable. The sensitivity of the protocol to constant measurement errors is also analyzed. One novelty of this work is that the localizability analysis and localization protocol are applicable to networks in arbitrary dimensional spaces.
Full work available at URL: https://arxiv.org/abs/1502.00154
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Cited In (27)
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