Cooperative localization from imprecise range-only measurements: A non-convex distributed approach

Ian McInerney, Xu Ma, Nicola Elia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a distributed method to locate a target object using multi-Agent systems with only knowledge of the agent position and distance between them and the target. The problem is formulated as a non-convex quadratically constrained program, which is then solved using an optimization dynamics approach. The method presented can be applied to an arbitrary undirected network, and only requires agents communicating their estimate of the target's position and their calculated dual variables. The proposed method is derived from the Range-Based Least-Squares method, and becomes the Maximum Likelihood Estimator for this problem under Gaussian noise. We present the convergence results and also numerical simulations of this method.

Original languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2216-2221
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Externally publishedYes
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

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  • Cite this

    McInerney, I., Ma, X., & Elia, N. (2018). Cooperative localization from imprecise range-only measurements: A non-convex distributed approach. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 2216-2221). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8263973