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

Ian McInerney; Xu Ma; Nicola Elia

doi:10.1109/CDC.2017.8263973

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 proceeding › Conference contribution

2 Scopus citations

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 language	English (US)
Title of host publication	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2216-2221
Number of pages	6
ISBN (Electronic)	9781509028733
DOIs	https://doi.org/10.1109/CDC.2017.8263973
State	Published - Jun 28 2017
Externally published	Yes
Event	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: Dec 12 2017 → Dec 15 2017

Publication series

Name	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume	2018-January

Other

Other	56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/Territory	Australia
City	Melbourne
Period	12/12/17 → 12/15/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

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10.1109/CDC.2017.8263973

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McInerney, I., Ma, X., & Elia, N. (2017). 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

Cooperative localization from imprecise range-only measurements: A non-convex distributed approach. / McInerney, Ian; Ma, Xu; Elia, Nicola.
2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2216-2221 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

McInerney, I, Ma, X & Elia, N 2017, Cooperative localization from imprecise range-only measurements: A non-convex distributed approach. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 2216-2221, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8263973

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

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

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