Brief paper: Minimization of the effect of noisy measurements on localization of multi-agent autonomous formations

Authors:
Iman Shames;Barış Fidan;Brian D. O. Anderson
Affiliations:
Australian National University, Canberra, ACT 0200, Australia and National ICT Australia, Canberra, ACT 0200, Australia;Australian National University, Canberra, ACT 0200, Australia and National ICT Australia, Canberra, ACT 0200, Australia;Australian National University, Canberra, ACT 0200, Australia and National ICT Australia, Canberra, ACT 0200, Australia
Venue:
Automatica (Journal of IFAC)
Year:
2009

Citing 4
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Abstract

This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurements are available to the agents in a globally rigid formation. It is shown that there is a relationship between different selections of anchors, agents with exactly known positions, and the error induced by measurement error on localization solution. This fact is exploited to develop a mechanism to select anchors in order to minimize the effects of inter-agent distance measurement errors on localization solution. Finally, some simulation results are presented to demonstrate the optimal anchor selection for a particular general class of formations, the globally rigid formations.