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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2309.11411 |
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| _version_ | 1866917022955208704 |
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| author | Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro |
| author_facet | Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro |
| contents | This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange information on a network structure. First, we derive a necessary and sufficient condition for node localizability using barycentric coordinates. Then, building on this theoretical result, we design a distributed localizability verification algorithm, in which we propose and employ a novel distributed finite-time algorithm for sum consensus. Finally, we develop a distributed localization algorithm based on conjugate gradient method, and we derive a theoretical guarantee on its performance, which ensures finite-time convergence to the exact position for all localizable nodes. The efficiency of our algorithm compared to the existing ones from the state-of-the-art literature is further demonstrated through numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_11411 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Distributed Finite-Time Cooperative Localization for Three-Dimensional Sensor Networks Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro Systems and Control This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange information on a network structure. First, we derive a necessary and sufficient condition for node localizability using barycentric coordinates. Then, building on this theoretical result, we design a distributed localizability verification algorithm, in which we propose and employ a novel distributed finite-time algorithm for sum consensus. Finally, we develop a distributed localization algorithm based on conjugate gradient method, and we derive a theoretical guarantee on its performance, which ensures finite-time convergence to the exact position for all localizable nodes. The efficiency of our algorithm compared to the existing ones from the state-of-the-art literature is further demonstrated through numerical simulations. |
| title | Distributed Finite-Time Cooperative Localization for Three-Dimensional Sensor Networks |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2309.11411 |