Bearing angle based cooperative source localization

Lin, C; Chai, G; Lin, Z; Yan, G; Mao, G

Bearing angle based cooperative source localization

Lin, C Chai, G Lin, Z Yan, G Mao, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE Conference on Decision and Control, 2014, 2015-February (February), pp. 5387 - 5392
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Lin, C	en_US
dc.contributor.author	Chai, G	en_US
dc.contributor.author	Lin, Z	en_US
dc.contributor.author	Yan, G	en_US
dc.contributor.author	Mao, G https://orcid.org/0000-0002-3598-4949	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Proceedings of the IEEE Conference on Decision and Control, 2014, 2015-February (February), pp. 5387 - 5392	en_US
dc.identifier.issn	0743-1546	en_US
dc.identifier.uri	http://hdl.handle.net/10453/41073
dc.description.abstract	© 2014 IEEE. This paper deals with the cooperative source localization problem with the goal of having an accurate estimate of the coordinate of the source cooperatively by a group of unicycle-type mobile agents. Neither absolute positioning information nor a common sense of direction is shared by the agents. Each agent gets its estimate about the source's coordinate in its own local frame based on the bearing measurements about its neighbors (that may or may not include the source) together with its own linear and angular speed information. A continuous time estimation scheme and a distributed fusion scheme are proposed for this goal such that the source's relative coordinate can be estimated at any time by each agent no matter whether it can directly detect the source or not. The globally asymptotic convergence of the estimation scheme and the fusion scheme is rigorously analyzed. Simulation results are also provided to verify the effectiveness of the proposed algorithms.	en_US
dc.relation.ispartof	Proceedings of the IEEE Conference on Decision and Control	en_US
dc.relation.isbasedon	10.1109/CDC.2014.7040231	en_US
dc.title	Bearing angle based cooperative source localization	en_US
dc.type	Conference Proceeding
utslib.citation.volume	February	en_US
utslib.citation.volume	2015-February	en_US
utslib.for	080501 Distributed and Grid Systems	en_US
utslib.for	100503 Computer Communications Networks	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CRIN - Realtime Information Networks
utslib.copyright.status	open_access
pubs.issue	February	en_US
pubs.publication-status	Published	en_US
pubs.volume	2015-February	en_US

Abstract:

© 2014 IEEE. This paper deals with the cooperative source localization problem with the goal of having an accurate estimate of the coordinate of the source cooperatively by a group of unicycle-type mobile agents. Neither absolute positioning information nor a common sense of direction is shared by the agents. Each agent gets its estimate about the source's coordinate in its own local frame based on the bearing measurements about its neighbors (that may or may not include the source) together with its own linear and angular speed information. A continuous time estimation scheme and a distributed fusion scheme are proposed for this goal such that the source's relative coordinate can be estimated at any time by each agent no matter whether it can directly detect the source or not. The globally asymptotic convergence of the estimation scheme and the fusion scheme is rigorously analyzed. Simulation results are also provided to verify the effectiveness of the proposed algorithms.

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http://hdl.handle.net/10453/41073