Distributed 3-D Bearing-Only Orientation Localization

被引：0

作者：

Leonardos, Spyridon ^{[1
]}

Daniilidis, Kostas ^{[1
]}

Tron, Roberto ^{[2
]}

机构：

[1] Univ Penn, Dept Comp & Informat Sci, 200 S 33Rd St, Philadelphia, PA 19104 USA

[2] Boston Univ, Dept Mech Engn, Boston, MA 02215 USA

来源：

2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年

关键词：

NETWORK LOCALIZATION; SYNCHRONIZATION; CONSENSUS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a method to recover the orientation of a set of agents with respect to a global reference frame using local bearing measurements alone. Our method is distributed, does not require prior rotation information, and considers the full 3-D version of the problem. We identify sufficient localizability conditions on the directed graph of measurements, propose an algorithm based on distributed Riemannian gradient descent to recover a localization, and verify our theoretical results with simulations.

引用

页码：1834 / 1841

页数：8

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