Range-only sensing for formation shape control and easy sensor network localization
This paper is concerned with two related problems using graph theoretic methods for their solution. The central contribution to formation control is to demonstrate that if each agent senses a modest number of additional distances beyond those which are actively being controlled, and with limited message passing between neighboring agents, each agent can infer the relative positions of its neighbors in its own coordinate basis. Additional effort to related this to the basis used for viewing its controls may be required. Each agent can thus apply the known algorithms for formation shape control based on distance preservation, without needing to actually sense bearings. The contribution to sensor network localization is to identify circumstances in which the complexity is effectively linear in the number of nodes.
Formation Control Sensor Network Localization Graph Rigidity
Brian D.O. Anderson Changbin Yu
Australian National University and NICTA Ltd. Australian National University, Canberra ACT 2600
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
3319-3324
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）