Title :
Transient and limit performance of distributed relative localization
Author :
Rossi, Wilbert Samuel ; Frasca, Paolo ; Fagnani, Fabio
Author_Institution :
Dipt. di Sci. Matematiche, Politec. di Torino, Torino, Italy
Abstract :
In this paper, we consider the problem of relative localization in a network of sensors, according to the formulation of Barooah and Hespanha. We introduce a distributed algorithm for its solution, and we study the algorithm performance by evaluating a suitable performance metric as a function of the network eigenvalues. Remarkably, the performance analysis indicates that it is preferable to stop the algorithm before convergence is reached: an estimate of the optimal stopping time is provided.
Keywords :
convergence; distributed algorithms; distributed sensors; eigenvalues and eigenfunctions; graph theory; multi-robot systems; algorithm performance; convergence; distributed algorithm; distributed relative localization; limit performance; measurement graph; network eigenvalue; optimal stopping time estimation; performance analysis; performance metric; sensor network; transient performance; Algorithm design and analysis; Convergence; Eigenvalues and eigenfunctions; Estimation; Measurement; Noise; Vectors;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426218
