Distributed Sensor Localization in Random Environments Using Minimal Number of Anchor Nodes

DOI10.1109/TSP.2009.2014812zbMATH Open1391.94268arXiv0802.3563MaRDI QIDQ4569676FDOQ4569676

Authors: Usman A. Khan, Soummya Kar, José M. F. Moura 

Publication date: 9 July 2018

Published in: IEEE Transactions on Signal Processing (Search for Journal in Brave)

Abstract: The paper develops DILOC, a emph{distributive}, emph{iterative} algorithm that locates M sensors in $mathbb{R}^m,mgeq1$, with respect to a minimal number of m+1 anchors with known locations. The sensors exchange data with their neighbors only; no centralized data processing or communication occurs, nor is there centralized knowledge about the sensors' locations. DILOC uses the barycentric coordinates of a sensor with respect to its neighbors that are computed using the Cayley-Menger determinants. These are the determinants of matrices of inter-sensor distances. We show convergence of DILOC by associating with it an absorbing Markov chain whose absorbing states are the anchors. We introduce a stochastic approximation version extending DILOC to random environments when the knowledge about the intercommunications among sensors and the inter-sensor distances are noisy, and the communication links among neighbors fail at random times. We show a.s. convergence of the modified DILOC and characterize the error between the final estimates and the true values of the sensors' locations. Numerical studies illustrate DILOC under a variety of deterministic and random operating conditions.

Full work available at URL: https://arxiv.org/abs/0802.3563

Mathematics Subject Classification ID

Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

Cited In (16)

• Decentralized fused-learner architectures for Bayesian reinforcement learning
• Distributed localization in dynamic networks via complex Laplacian
• A distributed algorithm for efficiently solving linear equations and its applications (special issue JCW)
• Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions
• On the internal stability of diffusively coupled multi-agent systems and the dangers of cancel culture
• Reprint of ``A distributed algorithm for efficiently solving linear equations and its applications (Special issue JCW)
• Distributed weighted least-squares estimation with fast convergence for large-scale systems
• Primal-dual algorithm for distributed constrained optimization
• Graph-balancing algorithms for average consensus over directed networks
• Bearing-only distributed localization: a unified barycentric approach
• Containment control of multi-agent systems by exploiting the control inputs of neighbors
• Distributed localization with mixed measurements under switching topologies
• Neighborhood Kalman estimation for distributed localization in wireless sensor networks
• A new distributed Kalman filtering based on mean-square estimation upper bounds
• Asynchronous distributed localization in networks with communication delays and packet losses
• A survey on distributed network localization from a graph Laplacian perspective

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