Loading [MathJax]/extensions/TeX/extpfeil.js
A Backbone-Listener Relative Localization Scheme for Distributed Multi-agent Systems | IEEE Conference Publication | IEEE Xplore

A Backbone-Listener Relative Localization Scheme for Distributed Multi-agent Systems

Publisher: IEEE

Abstract:

Reliable and accurate localization awareness is of great importance for the distributed multi-agent system (DMAS). Instead of global information, measurements only betwee...View more

Abstract:

Reliable and accurate localization awareness is of great importance for the distributed multi-agent system (DMAS). Instead of global information, measurements only between neighbors pose locatability and accuracy challenges for distributed systems, which leads to the development and application of relative localization. In this paper, we put forward a backbone-listener localization scheme for the D-MAS. Agents switch backbone-listener modes through a node selection strategy. Position and orientation angle of agents are jointly estimated by range and angle information fusion. A distributed multidimensional scaling method is proposed for backbone agents to maintain the topology estimation. And listener agents ensure the localization capacity through a least square range and angle fusion algorithm. Extensive simulation and real-world experiments validate that our method achieves decimeter-level accuracy relative localization.
Date of Conference: 04-08 December 2022
Date Added to IEEE Xplore: 11 January 2023
ISBN Information:

ISSN Information:

Publisher: IEEE
Conference Location: Rio de Janeiro, Brazil

Funding Agency:


References

References is not available for this document.