Decentralized centroid estimation for multi-agent systems in absence of a common reference frame: A convergence analysis

In this paper a novel algorithm for the decentralized estimation of the network centroid for a multi-agent system deployed in a d-dimensional space is presented. It is assumed that the agents are static, do not share a common coordinate system and are only able to estimate relative distance and angle of sight with respect to themselves during pairwise asynchronous communications. It is shown that if the graph representing the network topology is rigid, then the proposed algorithm solves the network centroid estimation problem.