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

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

2744

Lastpage

2748

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426218

Filename

6426218