A continuous time linear adaptive source localization algorithm, robust to persistent drift

The problem of source localization has assumed increased importance in recent years. In this paper, we formulate a continuous time adaptive localization algorithm, that permits a mobile agent to estimate the location of a stationary source, using only the measured distance from the source. The algorithm is shown to be exponentially asymptotically stable, under a persistent excitation condition that has an appealing interpretation. We quantify the fact that exponential asymptotic stability endows the algorithm with the ability to track slow, bounded but potentially persistent and nontrivial drift in the source.