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Edge Localization in Two Dimensional Space via Orientation Estimation by Oh, Koog-Hwan; Fidan, Baris; Ahn, Hyo-Sung is a scholarly article available to read on EtoBox.

What is Edge Localization in Two Dimensional Space via Orientation Estimation about?

This paper focuses on the problem of estimating bearing vectors between the agents in a two dimensional multi-agent network based on subtended angle measurements, called edge localization problem. We propose an edge localization graph to investigate the solvability of this problem and a distributed estimation method via orientation estimation of virtual agents to solve the problem. Under the proposed method, the estimated bearing vector exponentially converges to the real one with a common bias if and only if the edge localization graph has an oriented spanning tree. Furthermore, the estimated variables exponentially converge to the true values if the edge localization graph has an oriented spanning tree with a root knowing the bearing vector from it to one of its neighbors.

Author

Oh, Koog-Hwan; Fidan, Baris; Ahn, Hyo-Sung

Published

2019

Language

EN