Gossip-Based Centroid and Common Reference Frame Estimation in Multiagent Systems

Author

Franceschelli, Mauro ; Gasparri, Andrea

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy

Volume

30

Issue

2

fYear

2014

fDate

Apr-14

Firstpage

524

Lastpage

531

Abstract

In this study, the decentralized common reference frame estimation problem for multiagent systems in the absence of any common coordinate system is investigated. Each agent is deployed in a 2-D space and can only measure the relative distance of neighboring agents and the angle of their line of sight in its local reference frame; no relative attitude measurement is available. Only asynchronous and random pairwise communications are allowed between neighboring agents. The convergence properties of the proposed algorithm are characterized, and its sensitiveness against additive noise on the relative distance measurements is investigated. An experimental validation of the effectiveness of the proposed algorithm is provided.

Keywords

convergence; distance measurement; multi-agent systems; 2D space; convergence properties; decentralized common reference frame estimation problem; gossip-based centroid; line of sight angle; local reference frame; multiagent systems; neighboring agents; relative distance measurements; Distance measurement; Estimation; Noise; Noise measurement; Robot kinematics; Robot sensing systems; Consensus; distributed randomized algorithms; gossip; multiagent systems; sensor network localization;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2013.2291621

Filename

6684306